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1、搬运码垛工作站建模1、创建机器人系统2、创建动态输送链3、创建动态夹具4、工作站逻辑连接5、添加IO(设置好需重启)6、示教目标点（同步到RAPID）7、RAPID编程一、创建机器人系统1、创建空工作站2、导入IRB 260机器人模型 3、从布局创建机器人系统，勾选Chinese和709-1网络二、创建动态输送链1、添加输送链并修改位置2、创建600*400*200的物料 并修改位置3、添加一个smart组件4、添加source组件5、设置物料本地原点 6、添加LINEMOVER和QUEUE组件7设置LINEMOVER属性8、添加面传感器组件9、设置输送链不能被传感器检测10、设置SC_输送链
2、的属性连接11、设置信号连接12、添加信号处理组件，用于检测传感器下降沿13、传感器下降沿触发source进行copy第四行有误14、传感器与SC输送链的输出联系15、添加仿真开始结束组件，用于激活传感器16、添加置位复位组件，对仿真开始结束信号进行保持17、18、进行仿真设定 选择SC输送链 进行验证三、创建动态夹具1、先制作一个吸盘模型，然后设置成工具，并安装到机器人法拉盘2、添加SMART组件3、添加ATTACHER和DETACHER组件4、设置属性 5、添加一个线传感器组件6、线传感器设置属性7、设置吸盘工具不能被传感器检测8、把线传感器安装到吸盘（不更新位置，保持当前位置）9、设置属
3、性连接10、添加信号及连接11、添加信号处理取非和锁定组件 12、继续信号连接13、添加一个示教物料14、应用手动线性验证SC_工具四、工作站逻辑连接五、参考代码MODULE MainMoudlePERS tooldata tGrip:=TRUE,0,0,200,1,0,0,0,25,0,0.00109327,116.889,1,0,0,0,0,0,0;！吸盘工具数据 PERS loaddata LoadEmpty:=0.01,0,0,1,1,0,0,0,0,0,0; PERS loaddata LoadFull:=40,0,0,50,1,0,0,0,0,0,0;！有效载荷数据PERS rob
4、target pHome:=1620.00,-0.00,1331.59,1.27986E-06,-0.707107,-0.707107,1.27986E-06,0,0,1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;！基准点 PERS robtarget pActualPos:=1620,-1.87531E-14,1331.59,1.27986E-06,-0.707107,-0.707107,1.27986E-06,0,0,1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;！实际点PERS robtarget pPick1:=148
5、8.007792464,376.826660408,476.964684195,0,0.707106307,0.707107256,0,0,0,1,0,9E9,9E9,9E9,9E9,9E9,9E9;！1路拾取目标点PERS robtarget pPlace1:=-292.446,1263.27,55.4492,0,0.707107,0.707106,0,1,0,2,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;！1路放置基准点PERS robtarget pBase1_0:=-292.446294945,1263.272085268,55.449220723,0
6、,0.707107387,0.707106176,0,1,0,2,0,9E9,9E9,9E9,9E9,9E9,9E9;！1路放置0度姿态 PERS robtarget pBase1_90:=-391.976797324,1362.469634994,55.449159414,0,1,-0.000030621,0,1,0,3,0,9E9,9E9,9E9,9E9,9E9,9E9;！1路放置90度姿态 PERS robtarget pPick2:=1488.013130905,-358.406014736,476.965039287,0,0.707106307,0.707107256,0,-1,0,
7、0,0,9E9,9E9,9E9,9E9,9E9,9E9; PERS robtarget pPlace2:=-317.378,-1857.99,55.449,0,0.707108,0.707106,0,-2,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09; PERS robtarget pBase2_0:=-317.378137718,-1857.993871961,55.448967354,0,0.707107745,0.707105817,0,-2,0,-1,0,9E9,9E9,9E9,9E9,9E9,9E9; PERS robtarget pBase2
8、_90:=-407.525988074,-1755.902485322,55.449282402,0,1,-0.000031217,0,-2,0,0,0,9E9,9E9,9E9,9E9,9E9,9E9; PERS speeddata MinSpeed:=1000,300,5000,1000; PERS speeddata MidSpeed:=2500,400,5000,1000; PERS speeddata MaxSpeed:=4000,500,5000,1000;！搬运速度定义 PERS bool bPalletFull1:=FALSE; PERS bool bPalletFull2:=F
9、ALSE;！逻辑布尔量，拾取后为UE，放置后为FALSE PERS num nCount1:=1; PERS num nCount2:=1;！输送链计数 PROC Main() rInitAll; WHILE TRUE DO IF diBoxInPos1=1 AND diPalletInPos1=1 AND bPalletFull1=FALSE THEN rPick1; rPlace1; ENDIF IF diBoxInPos2=1 AND diPalletInPos2=1 AND bPalletFull2=FALSE THEN rPick2; rPlace2; ENDIF WaitTime
10、0.1; ENDWHILE ENDPROC PROC rInitAll() Reset doGrip; pActualPos:=CRobT(tool:=tGrip); pActualPos.trans.z:=pHome.trans.z; MoveL pActualPos,MinSpeed,fine,tGripWObj:=wobj0; MoveJ pHome,MidSpeed,fine,tGripWObj:=wobj0; bPalletFull1:=FALSE; nCount1:=1; bPalletFull2:=FALSE; nCount2:=1; ENDPROC PROC rPick1()
11、MoveJ Offs(pPick1,0,0,400),MaxSpeed,z50,tGripWObj:=wobj0; MoveL pPick1,MinSpeed,fine,tGripWObj:=wobj0; Set doGrip; WaitTime 0.3; GripLoad LoadFull; MoveL Offs(pPick1,0,0,400),MinSpeed,z50,tGripWObj:=wobj0; ENDPROC PROC rPick2() MoveJ Offs(pPick2,0,0,400),MaxSpeed,z50,tGripWObj:=wobj0; MoveL pPick2,M
12、inSpeed,fine,tGripWObj:=wobj0; Set doGrip; WaitTime 0.3; GripLoad LoadFull; MoveL Offs(pPick2,0,0,400),MinSpeed,z50,tGripWObj:=wobj0; ENDPROC PROC rPlace1() rPosition1; MoveJ Offs(pPlace1,0,0,400),MidSpeed,z50,tGripWObj:=wobj0; MoveL pPlace1,MinSpeed,fine,tGripWObj:=wobj0; Reset doGrip; WaitTime 0.3
13、; GripLoad LoadEmpty; MoveL Offs(pPlace1,0,0,400),MidSpeed,z50,tGripWObj:=wobj0; MoveJ Offs(pPick1,0,0,400),MaxSpeed,z50,tGripWObj:=wobj0; nCount1:=nCount1+1; IF nCount120 THEN bPalletFull1:=TRUE; ENDIF ENDPROC PROC rPlace2() rPosition2; MoveJ Offs(pPlace2,0,0,400),MaxSpeed,z50,tGripWObj:=wobj0; Mov
14、eL pPlace2,MinSpeed,fine,tGripWObj:=wobj0; Reset doGrip; WaitTime 0.3; GripLoad LoadEmpty; MoveL Offs(pPlace2,0,0,400),MidSpeed,z50,tGripWObj:=wobj0; MoveJ Offs(pPick2,0,0,400),MaxSpeed,z50,tGripWObj:=wobj0; nCount2:=nCount2+1; IF nCount220 THEN bPalletFull2:=TRUE; ENDIF ENDPROC PROC rPosition1() TE
15、ST nCount1 CASE 1: pPlace1:=Offs(pBase1_0,0,0,0); CASE 2: pPlace1:=Offs(pBase1_0,600+10,0,0); CASE 3: pPlace1:=Offs(pBase1_90,0,400+10,0); CASE 4: pPlace1:=Offs(pBase1_90,400+10,400+10,0); CASE 5: pPlace1:=Offs(pBase1_90,800+20,400+10,0); CASE 6: pPlace1:=Offs(pBase1_0,0,600+10,200); CASE 7: pPlace1
16、:=Offs(pBase1_0,600+10,600+10,200); CASE 8: pPlace1:=Offs(pBase1_90,0,0,200); CASE 9: pPlace1:=Offs(pBase1_90,400+10,0,200); CASE 10: pPlace1:=Offs(pBase1_90,800+20,0,200); CASE 11: pPlace1:=Offs(pBase1_0,0,0,400); CASE 12: pPlace1:=Offs(pBase1_0,600+10,0,400); CASE 13: pPlace1:=Offs(pBase1_90,0,400
17、+10,400); CASE 14: pPlace1:=Offs(pBase1_90,400+10,400+10,400); CASE 15: pPlace1:=Offs(pBase1_90,800+20,400+10,400); CASE 16: pPlace1:=Offs(pBase1_0,0,600+10,600); CASE 17: pPlace1:=Offs(pBase1_0,600+10,600+10,600); CASE 18: pPlace1:=Offs(pBase1_90,0,0,600); CASE 19: pPlace1:=Offs(pBase1_90,400+10,0,
18、600); CASE 20: pPlace1:=Offs(pBase1_90,800+20,0,600); DEFAULT: TPErase; TPWrite the Counter of line 1 is error,please check it!; Stop; ENDTEST ENDPROC PROC rPosition2() TEST nCount2 CASE 1: pPlace2:=Offs(pBase2_0,0,0,0); CASE 2: pPlace2:=Offs(pBase2_0,600+10,0,0); CASE 3: pPlace2:=Offs(pBase2_90,0,4
19、00+10,0); CASE 4: pPlace2:=Offs(pBase2_90,400+10,400+10,0); CASE 5: pPlace2:=Offs(pBase2_90,800+20,400+10,0); CASE 6: pPlace2:=Offs(pBase2_0,0,600+10,200); CASE 7: pPlace2:=Offs(pBase2_0,600+10,600+10,200); CASE 8: pPlace2:=Offs(pBase2_90,0,0,200); CASE 9: pPlace2:=Offs(pBase2_90,400+10,0,200); CASE
20、 10: pPlace2:=Offs(pBase2_90,800+20,0,200); CASE 11: pPlace2:=Offs(pBase2_0,0,0,400); CASE 12: pPlace2:=Offs(pBase2_0,600+10,0,400); CASE 13: pPlace2:=Offs(pBase2_90,0,400+10,400); CASE 14: pPlace2:=Offs(pBase2_90,400+10,400+10,400); CASE 15: pPlace2:=Offs(pBase2_90,800+20,400+10,400); CASE 16: pPla
21、ce2:=Offs(pBase2_0,0,600+10,600); CASE 17: pPlace2:=Offs(pBase2_0,600+10,600+10,600); CASE 18: pPlace2:=Offs(pBase2_90,0,0,600); CASE 19: pPlace2:=Offs(pBase2_90,400+10,0,600); CASE 20: pPlace2:=Offs(pBase2_90,800+20,0,600); DEFAULT: TPErase; TPWrite the Counter of line 1 is error,please check it!;
22、Stop; ENDTEST ENDPROC PROC rModify() MoveJ pHome,MinSpeed,fine,tGripWObj:=wobj0; MoveJ pPick1,MinSpeed,fine,tGripWObj:=wobj0; MoveJ pBase1_0,MinSpeed,fine,tGripWObj:=wobj0; MoveJ pBase1_90,MinSpeed,fine,tGripWObj:=wobj0; MoveJ pPick2,MinSpeed,fine,tGripWObj:=wobj0; MoveJ pBase2_0,MinSpeed,fine,tGripWObj:=wobj0; MoveJ pBase2_90,MinSpeed,fine,tGripWObj:=wobj0; ENDPROCENDMODULE
