1、搬運碼垛工作站建模1、創建機器人系統2、創建動態輸送鏈3、創建動態夾具4、工作站邏輯連接5、添加10（設置好需重啟）6、示教目標點（同步到RAPID）7、RAPID編程創建機器人系統1、創建空工作站2、導入IRB260機器人模型3、從布局創建機器人系統，勾選Chinese和709-1網絡、創建動態輸送鏈1、添加輸送鏈并修改位置2、創建600*400*200的物料并修改位置3、添加一個03(*一smart組件可見啕檢杳A陸君喉修設定為妨儂1SS慘或M、添力口LINEMOVER和QUEUE組件布局I麒I標卻士未保存工作站”細件-5匚_輸法錯LintarMovr父二Qxieu.e*彳SiurJ4/怫

2、前枷料）由ii_I玄_輸送帶K國sc_輸送鏈組成屬性與連結信號和i接設計子對象蛆件潴加綱件Smartjg件-kfTjSource，創建一個圄形件的拷貝pril.LiziearNoveir界移動-H攙至卜條線上_r上Q112U&賽示為對象的隊列，可作為組進行操縱7設置LINEMOVER屬性屆性LwnearMcverX屬性BObject5_輸送錯/駟口電,DixectiQnGin)-100；Q.OO:0.MEp電艮(irih/s200-GUhal信號日ExecutetflB應用關闈8、添加面傳感器組件屬性:;Plan虻幺fiso乂展性3OriginGnm)100000同同2D叫一用TT3.00Ax

3、izlgn)0.00fa即，口口目。00目Ax；s20),0.00聆85MTjJTart信號9、設置輸送鏈不能被傳感器檢測&的剪切Ctrl+X小坦社Ctrl-C鉆站Ctrl-V*保存為的文悻“涌斷開與庫的叁搔;導出“1,司拉”，三運魚L何株尸澗.心除CADg同樂五外4亞1彳ii除內部幾何tr里斷祖連娜可囹博雷疆原測10、設置SC輸送鏈的屬性連接11、設置信號連接12、添加信號處理組件，用于檢測傳感器下降沿無閨應用國性！LflgioGateNOTl屬性SC輸送鏈組成屬性與連結信縣和連搔道計當領蛆件Smart?S.J4S5urcfe創建一個圖形組件的拷貝Lineover移動一個對象至，一條線上Qu

4、eue耒示為對象的隊列，可作為組進行操縱布晨建重I朝I方未保存工作咕*機械獎署Fix電目號or監測對象與平面相交Logjca-teHOT進言字信罵的塞輯運算翩Lo進纏屬0p輸In.In輸Ou13、傳感器下降沿觸發source進行copy/Qttttx|.=心3C_輸送錐墉迷Im川-培成廄擊蒯ng信號1名司值芭larlCFYILgi1-lLr.pitcE0115FlGt0Qq切uR卡irrF.FT.匚產將字可耕住百對氯耳信w目山爆目標對第scjftgaiCtwCHVEK4taZqukdea-cdutcdDtlheFO.flriuEwvs工rSraso-Chni電T1EEDajrLcLutic抬1

5、atnOutput1照：02rwiTil*uL-in的1+*11Chutpuit總%也口di。kIlI/LL.Jtl.tuLnii舊罐片件11二m9111山的刖工卜卷丁幡14、傳感器與SC輸送鏈的輸由聯系學sc輸送鞋口卞1一,軀唐I鑿信號靶連陵出計ww號1名荷侑葺苴出住Istfirtnrlit*LTnut*GfiriinFiliptOOncpulQ團連降擊時源時，必信W可啕瑞門搏!悌St*rlJT/SdWCibtanlASourct!w-Bculadu*uu!白Ma*e5eiisQueii/余示為對彖的隊外可作峭蜘翻JFlaneSensore（監剜萬象與平面相交1LogieGateMETL*進

6、衿射學信號的邏揖謝/SifliulaticmEzeiitsW丁伯直開始和僖止時發出的豚中信號三三TLo】SRL式品叁設條復位鎖定打17、firatwTCWSCJ*送低證*|r迎一加工att海i宓勺百打iQ修目1幻.二匚工二：士富HN3血石黑LUL：LE”i-nF二川：UMfIkLUL：LE”i-nF二川：UMfIkI.也與靜,七知止.點寸fie目標用型目由明LiqoNhKJTJul=1mn工HU”Lncj?rBilifOTjJhiljraLE/eeckEx0.1-1FImmEw3W5WUT-fc4Ln-riUiBir.I的EEIIEu艮卜EAUOOH.pul：lEaJvhfijcriLb|L6

7、alDatpuE0史Lip二13,1mMki4|ra_和住fcl.日懂川靜SwaiihHNEvmmFlUrf-BblMSiMirDbL目3/閾M唾IRFTIT時Cwr|.口*卡”以BEaeW-*PlgjuflAdriqM迎且建呻T4gSiAi-irvan.iEibLa*iBnE，,vU9L?|lELLsdi%|1rLIAJ.k;34n7IWESh-UlriifcE心：Ef-JirJLAfLUlLBLUhLaE-fekLlJ-=rilfaS.口116tjllTAulUUiiEUninCtiDUSlEUtlpnSllttp5d(rBEbeBI此LiifjaidMAflu-1S,IfritMj18、

8、進行仿真設定選擇SC輸送鏈進行驗證三、創建動態夾具1、先制作一個吸盤模型，然后設置成工具，并安裝到機器人法拉盤2、添力口SMART組件彷亙控匍I巖閭CLAPTDAddkit-F;冉工隗的丑|柯般左聲川生T二更同泣養T懵X）履三O甫自趙斗俎Smarty與M向保等罰3部t妻面向珪用局，蛙模|后巨K工全傻存工作站*一嚀心其，具3、添力口ATTACHER和DETACHER組件*SC_工具組腐I廄性與踏I信號和連接I4二子肅復細件添加第件Ewrt招件Attacl&r國飛安裝一個對象Detacher刑拆除一個已安裝的對象5、添加一個線傳感器組件Jfl；Detacher|tX屬性0Child|J|KetpT

9、oxiticn信號Execute應用美閑Attithtr安裝一個對象D*七auhar拆除一個已安裝的對象粒星L文二具乂組成屬性與連結信號和連接設計子封盤組件m啟出皂件LineSwrrsor檢測是否有任何對象與兩點之割的處段相交粗菰奘第7、設置吸盤工具不能被傳感器檢測朝口rl-K復制Ctrl-C候存為序文件“崎開與摩的連接可見檢咨SUCSliS虔幡夜機幡轅耳產冊一年03/139Bm由博通卷漉8、把線傳感器安裝到吸盤（不更新位置，保持當前位置）痣文工具用Attacker此HetacherLiTieSenz,3。_輸送芾配托也1，加的1戰忖盤之福第史Ctrl*K4j復制口1-匚WifeCtrlV、口

10、存為二件.*蜥開與犀姑注提島受受護7可見排消橙直忙置上愛定本也裒點日安裝到body1Body1lRB460_110_240_m正鞋!帶xipan頊艮it9、設置屬性連接社里E4與注=多口度感修史JKtL日宿膾LjuWmi31r51?b.i?iFsfftA(t*fhwAAIkmLmIChili.口，加上面菱血T并；函由洋胃面端缶ttlr用FHI1I艮HI痙匿1虧父HI-H也建站|刖操13加卜口二機IB迷信號吟jSC_H具國底居住與面營信三布雪持運才.三力CT噴jgr耳二仔金恃:蕓洞口HDTi11、添加信號處理取非和鎖定組件總SC工具組成后性與連結I信號和連接畫一子時象組件占加縮件Em白rti苴件

11、&Altcher其也安裝一個對象Dslichsr的拆除一個已安裝的對象匕Lin通fr演點;廣仃便丁號與兩點之間的技段相交uWL:flBT：ID/t酬/NAnuRr口mEE生加必DwihrliMl5!k*cl4L*gi丁童！itekLha1Lil局KL&1dhOulpiM.里HcuiOR,喜加11I門”，+）力13、添加一個示教物料14、應用手動線性驗證SC_工具借號同n瓦未惇存工侔拈*啖W黃日*苗皿5|/強_。1同信同諦梅，小臭Ail-L.An11.diBEFLih.lKiife.l；X四、工作站邏輯連接五、參考代碼MODULEMainMoudlePERStooldatatGrip:=TRUE

12、,0,0,200,1,0,0,0,25,0,0.00109327,116.889,1,0,0,0,0,0,0;!吸盤工具數據PERSloaddataLoadEmpty:=0.01,0,0,1,1,0,0,0,0,0,0;PERSloaddataLoadFull:=40,0,0,50,1,0,0,0,0,0,0;!有效載荷數據PERSrobtargetpHome:=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;!基準點PER

13、SrobtargetpActualPos:=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;!實際點PERSrobtargetpPick1:=1488.007792464,376.826660408,476.964684195,0,0.707106307,0.707107256,0,0,0,1,0,9E9,9E9,9E9,9E9,9E9,9E9;!1路拾取目標點PERSrobtargetpPlace1:=-292.4

14、46,1263.27,55.4492,0,0.707107,0.707106,0,1,0,2,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;!1路放置基準點PERSrobtargetpBase1_0:=-292.446294945,1263.272085268,55.449220723,0,0.707107387,0.707106176,0,1,0,2,0,9E9,9E9,9E9,9E9,9E9,9E9;!1路放置0度姿態PERSrobtargetpBase1_90:=-391.976797324,1362.469634994,55.449159414,0,1,-

15、0.000030621,0,1,0,3,0,9E9,9E9,9E9,9E9,9E9,9E9;!1路放置90度姿態PERSrobtargetpPick2:=1488.013130905,-358.406014736,476.965039287,0,0.707106307,0.707107256,0,-1,0,0,0,9E9,9E9,9E9,9E9,9E9,9E9;PERSrobtargetpPlace2:=-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;PER

16、SrobtargetpBase2_0:=-317.378137718,-1857.993871961,55.448967354,0,0.707107745,0.707105817,0,-2,0,-1,0,9E9,9E9,9E9,9E9,9E9,9E9;PERSrobtargetpBase2_90:=-407.525988074,-1755.902485322,55.449282402,0,1,-0.000031217,0,-2,0,0,0,9E9,9E9,9E9,9E9,9E9,9E9;PERSspeeddataMinSpeed:=1000,300,5000,1000;PERSspeeddat

17、aMidSpeed:=2500,400,5000,1000;PERSspeeddataMaxSpeed:=4000,500,5000,1000;!搬運速度定義PERSboolbPalletFull2:=FALSE;!邏輯布爾量，拾取后為UE,放置后為FALSEPERSnumnCount1:=1;PERSnumnCount2:=1;!輸送鏈計數PROCMain()rInitAll;WHILETRUEDOIFdiBoxInPos1=1ANDdiPalletInPos1=1ANDbPalletFull1=FALSETHENrPick1;rPlace1;ENDIFIFdiBoxInPos2=1ANDd

18、iPalletInPos2=1ANDbPalletFull2=FALSETHENrPick2;rPlace2;ENDIFWaitTime0.1;ENDWHILEENDPROCPROCrInitAll()ResetdoGrip;pActualPos:=CRobT(tool:=tGrip);pActualPos.trans.z:=pHome.trans.z;MoveLpActualPos,MinSpeed,fine,tGripWObj:=wobj0;MoveJpHome,MidSpeed,fine,tGripWObj:=wobj0;nCount1:=1;bPalletFull2:=FALSE;nC

19、ount2:=1;ENDPROCPROCrPick1()MoveJOffs(pPick1,0,0,400),MaxSpeed,z50,tGripWObj:=wobj0;MoveLpPick1,MinSpeed,fine,tGripWObj:=wobj0;SetdoGrip;WaitTime0.3;GripLoadLoadFull;MoveLOffs(pPick1,0,0,400),MinSpeed,z50,tGripWObj:=wobj0;ENDPROCPROCrPick2()MoveJOffs(pPick2,0,0,400),MaxSpeed,z50,tGripWObj:=wobj0;Mov

20、eLpPick2,MinSpeed,fine,tGripWObj:=wobj0;SetdoGrip;WaitTime0.3;GripLoadLoadFull;MoveLOffs(pPick2,0,0,400),MinSpeed,z50,tGripWObj:=wobj0;ENDPROCPROCrPlace1()rPosition1;MoveJOffs(pPlace1,0,0,400),MidSpeed,z50,tGripWObj:=wobj0;MoveLpPlace1,MinSpeed,fine,tGripWObj:=wobj0;ResetdoGrip;WaitTime0.3;GripLoadL

21、oadEmpty;MoveLOffs(pPlace1,0,0,400),MidSpeed,z50,tGripWObj:=wobj0;MoveJOffs(pPick1,0,0,400),MaxSpeed,z50,tGripWObj:=wobj0;nCount1:=nCount1+1;IFnCount120THENbPalletFull1:=TRUE;ENDIFENDPROCPROCrPlace2()rPosition2;MoveJOffs(pPlace2,0,0,400),MaxSpeed,z50,tGripWObj:=wobj0;MoveLpPlace2,MinSpeed,fine,tGrip

22、WObj:=wobj0;ResetdoGrip;WaitTime0.3;GripLoadLoadEmpty;MoveLOffs(pPlace2,0,0,400),MidSpeed,z50,tGripWObj:=wobj0;MoveJOffs(pPick2,0,0,400),MaxSpeed,z50,tGripWObj:=wobj0;nCount2:=nCount2+1;IFnCount220THENbPalletFull2:=TRUE;ENDIFENDPROCPROCrPosition1()TESTnCount1CASE 1: pPlace1:=Offs(pBase1_0,0,0,0);CAS

23、E 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:=Offs(pBase1_0,600+10,600+10,200);CASE 8: pPlace1:=Offs(p

24、Base1_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+10,400);CASE 14: pPlace1:=Offs(pBase1_90,400+10,400+10,400);CAS

25、E 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+10,0,600);CASE 20: pPlace1:=Offs(pBase1_90,800+20,0,600);DEFAULT:TPErase;TP

26、WritetheCounterofline1iserror,pleasecheckit!;Stop;ENDTESTENDPROCPROCrPosition2()TESTnCount2CASE 1: pPlace2:=Offs(pBase2_0,0,0,0);CASE 2: pPlace2:=Offs(pBase2_0,600+10,0,0);CASE 3: pPlace2:=Offs(pBase2_90,0,400+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 10: pPlace2:=Offs(pBase2_90,800+20,0,200)