1、234567123123456、搬運碼垛工作站建模創建機器人系統創建動態輸送鏈創建動態夾具工作站邏輯連接添加10（設置好需重啟）示教目標點（同步到RAPIDRAPID編程一、 創建機器人系統創建空工作站導入IRB260機器人模型 "'"1 '\L”從布局創建機器人系統，勾選 Chinese和709-1網絡二、 創建動態輸送鏈添加輸送鏈并修改位置創建—6\00*400*200的物料并修改位置添加一^個smart組件添加source組件設置物料本地原點添力口LINEMOVER口QUEU組件7設置LINEMOVE屬性&添加面傳感器組件9、設置輸送鏈不能被傳感器檢測10、 設置SCJ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13、傳感器下降沿觸發source進行copySC_輸送鏈銅］寒怪與連結信號沁接設計rpf言號TOC\o"1-5"\h\z［名稱 信號衰組 値StertClV 蛻耀 臥 0Difi 0:泰nnm口甌直*轉齊干昶養償耳MMMiIA?tt邏儘號目痢懐目標檢SC%建槌S&surI?*Ek^cuteSl'UJ-^*eEKe^KiltdFlrdtiStiiSorQu色訃色D睦q巧赴q業L&￡icGalft[SOT]Output皿雖饑［mltnpulALt>CiC(ra<t[30T]Output,S&ureeEwe^ule^rlDIZDCarLCic^ticn-S5b苣揮I/LCciyLtciiDiLs 昔E干上移下籟14、傳感器與SC輸送鏈的輸出聯系15、添加仿真開始結束組件，用于激活傳感器16、添加置位復位組件，對仿真開始結束信號進行保持.迦：|Kjataax.r②SC—輸送鏈 觥■win?富輕IjfD［甲&嚇杠3瑁Htt上下

三、創建動態夾具1、2、添力口SMAR組件3、添加ATTACHE和DETACHE組件1、2、添力口SMAR組件3、添加ATTACHE和DETACHE組件4、設置屬性5、添加一個線傳感器組件6、線傳感器設置屬性7、設置吸盤工具不能被傳感器檢測&把線傳感器安裝到吸盤（不更新位置，保持當前位置）9、設置屬性連接10、 添加信號及連接11、 添加信號處理取非和鎖定組件12、 繼續信號連接13、 添加一個示教物料14、 應用手動線性驗證SC_X具四、工作站邏輯連接

五、參考代碼MODULEMainMoudlePERStooldatatGrip:二[TRUE,[[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:二[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:二[[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PERSrobtargetpActualPos:二[[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!1路拾取目標點PERSrobtargetpPlace1:=[[-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路放置基準點!1路放置0度姿態!1路放置90度姿態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]];PERSspeeddataMinSpeed:二[1000,300,5000,1000];PERSspeeddataMidSpeed:二[2500,400,5000,1000];PERSspeeddataMaxSpeed:二[4000,500,5000,1000];!搬運速度定義PERSboolbPalletFull1:=FALSE;PERSboolbPalletFull2:=FALSE;!邏輯布爾量，拾取后為!邏輯布爾量，拾取后為UE放置后為FALSEPERSnumnCount1:=1;PERSnumnCount2:=1;!輸送鏈計數PROCMain()rInitAII;WHILETRUEDOIFdiBoxInPos1=1ANDdiPalletInPos1=1ANDbPalletFull仁FALSETHENrPick1;rPlace1;ENDIFIFdiBoxInPos2=1ANDdiPalletInPos2=1ANDbPalletFull2FALSETHENrPick2;rPlace2;ENDIFWaitTime0.1; i. s.,,/'ENDWHILEENDPROCPROCrInitAll()ResetdoGrip;pActualPos:—CRobT(\tool:=tGrip);MoveLpActualPos,MinSpeedfine,tGrip\WObj:—wobjO;MoveJpHome,MidSpeed,fine,tGrip\WObj:=wobj0;bPalletFull1:=FALSE;nCount1:=1;bPalletFull2:=FALSE;nCount2:=1;ENDPROCPROCrPick1()MoveJOffs(pPick1,0,0,400),MaxSpeed,z50,tGrip\WObj:二wobjO;MoveLpPick1,MinSpeedfine,tGrip\WObj:二wobjO;SetdoGrip;WaitTime0.3;GripLoadLoadFull;MoveLOffs(pPick1,O,O,4OO),MinSpeed,z50,tGrip\WObj:二wobjO;ENDPROCPROCrPick2()MoveJOffs(pPick2,O,O,4OO),MaxSpeed,z5O,tGrip\WObj:二wobjO;MoveLpPick2,MinSpeed,fine,tGrip\WObj:=wobj0;SetdoGrip;WaitTime0.3;'*■GripLoadLoadFull;MoveLOffs(pPick2,O,O,4OO),MinSpeed,z5O,tGrip\WObj:二wobjO;ENDPROCPROCrPlace1()rPosition1;MoveJOffs(pPlace1,O,O,4OO),MidSpeed,z5O,tGrip\WObj:二wobjO;MoveLpPlace1,MinSpeed,fine,tGrip\WObj:=wobj0;ResetdoGrip;WaitTime0.3;GripLoadLoadEmpty;MoveLOffs(pPlace1,O,O,4OO),MidSpeed,z5O,tGrip\WObj:二wobjO;wobjO;MoveJOffs(pPick1,O,O,4OO),MaxSpeed,z5O,tGrip\WObj:二nCount1:=nCount1+1;wobjO;IFnCount1>20THENbPalletFull1:=TRUE;ENDIFENDPROCPROCrPlace2()rPosition2;MoveJOffs(pPlace2,0,0,400),MaxSpeed,z50,tGrip\WObj:二wobjO;MoveLpPlace2,MinSpeedfine,tGrip\WObj:二wobjO;ResetdoGrip;WaitTime0.3;GripLoadLoadEmpty;MoveLOffs(pPlace2,0,0,400),MidSpeed,z50,tGrip\WObj:二wobjO;MoveJOffs(pPick2,0,0,400),MaxSpeed,z50,tGrip\WObj:二wobjO;nCount2:=nCount2+1; ■iJIX1■CXiy'y'IFnCount2>20THENbPalletFull2:=TRUE;ENDIFENDPROCPROCrPosition1()TESTnCount1CASE1:pPlace1:=Offs(pBase1_0,0,0,0);CASE2:pPlace1:=Offs(pBase1_0,600+10,0,0);CASE3:pPlace1:=Offs(pBase1_90,0,400+10,0);pPlace1:=Offs(pBase1_90,400+10,400+10,0);CASE5:pPlace1:=Offs(pBase1_90,800+20,400+10,0);CASE6:pPlace1:=Offs(pBase1_0,0,600+10,200);CASE7:pPlace1:=Offs(pBase1_0,600+10,600+10,200);CASE8:pPlace1:=Offs(pBase1_90,0,0,200);CASE9:pPlace1:=Offs(pBase1_90,400+10,0,200);CASE10:pPlace1:=Offs(pBase1_90,800+20,0,200);CASE11:pPlace1:=Offs(pBase1_0,0,0,400);CASE12:pPlace1:=Offs(pBase1_0,600+10,0,400);CASE13:pPlace1:=Offs(pBase1_90,0,400+10,400);CASE14:pPlace1:=Offs(pBase1_90,400+10,400+10,400);CASE15:pPlace1:=Offs(pBase1_90,800+20,400+10,400);CASE16:pPlace1:=Offs(pBase1_0,600+10,600+10,600);CASE18:pPlace1:=Offs(pBase1_90,0,0,600);CASE19:pPlace1:=Offs(pBase1_90,400+10,0,600);CASE20:pPlace1:=Offs(pBase1_90,800+20,0,600);DEFAULT:TPErase;TPWrite"theCounterofline1iserror,pleasecheckit!";Stop;ENDTEST*LiENDPROCPROCrPosition2()TESTnCount2CASE1:pPlace2:=Offs(pBase2_0,0,0,0);CASE2:pPlace2:=Offs(pBase2_0,600+10,0,0);CASE3:pPlace2:=Offs(pBase2_90,0,400+10,0);CASE4:pPlace2:=Offs(pBase2_90,400+10,400+10,0);CASE5:pPlace2:=Offs(pBase2_0,0,600+10,200);CASE7:pPlace2:=Offs(pBase2_0,600+10,600+10,200);CASE8:pPlace2:=Offs(pBase2_90,0,0,200);CASE9:pPlace2:=Offs(pBase2_90,400+10,0,200);CASE10:pPlace2:=Offs(pBase2_90,800+20,0,200);CASE11:pPlace2:=Offs(pBase2_0,0,0,400);CASE12:pPlace2:=Offs(pBase2_0,600+10,0,400);CASE13:pPlace2:=Offs(pBase2_90,0,400+10,400);CASE14:pPlace2:=Offs(pBase2_90,400+10,400+10,400);CASE15:pPlace2:=Offs(pBase2_90,800+20,400+10,400);CASE16:pPlace2:=Offs(pBase2_0,