ABB robotstudio使用详细顺序-搬运码垛工作站建模

来源:网络  作者:六叉零   2020-04-19 阅读:326

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IRB260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

                                              [A1] 

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

MODULEMainMoudle

PERStooldatatGrip:=[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

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];

!有效载荷数据

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]];

!基准点

PERSrobtargetpActualPos:=[[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

!1路拾取目标点

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路放置基准点

!1路放置0度姿态

!1路放置90度姿态

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:=[1000,300,5000,1000];

PERSspeeddataMidSpeed:=[2500,400,5000,1000];

PERSspeeddataMaxSpeed:=[4000,500,5000,1000];

!搬运速度定义

PERSboolbPalletFull1:=FALSE;

PERSboolbPalletFull2:=FALSE;

!逻辑布尔量,拾取后为UE,放置后为FALSE

PERSnumnCount1:=1;

PERSnumnCount2:=1;

!输送链计数

PROCMain()

rInitAll;

WHILETRUEDO

IFdiBoxInPos1=1ANDdiPalletInPos1=1ANDbPalletFull1=FALSETHEN

rPick1;

rPlace1;

ENDIF

IFdiBoxInPos2=1ANDdiPalletInPos2=1ANDbPalletFull2=FALSETHEN

rPick2;

rPlace2;

ENDIF

WaitTime0.1;

ENDWHILE

ENDPROC

PROCrInitAll()

ResetdoGrip;

pActualPos:=CRobT(\tool:=tGrip);

MoveLpActualPos,MinSpeed,fine,tGrip\WObj:=wobj0;

MoveJpHome,MidSpeed,fine,tGrip\WObj:=wobj0;

bPalletFull1:=FALSE;

nCount1:=1;

bPalletFull2:=FALSE;

nCount2:=1;

ENDPROC

PROCrPick1()

MoveJOffs(pPick1,0,0,400),MaxSpeed,z50,tGrip\WObj:=wobj0;

MoveLpPick1,MinSpeed,fine,tGrip\WObj:=wobj0;

SetdoGrip;

WaitTime0.3;

GripLoadLoadFull;

MoveLOffs(pPick1,0,0,400),MinSpeed,z50,tGrip\WObj:=wobj0;

ENDPROC

PROCrPick2()

MoveJOffs(pPick2,0,0,400),MaxSpeed,z50,tGrip\WObj:=wobj0;

MoveLpPick2,MinSpeed,fine,tGrip\WObj:=wobj0;

SetdoGrip;

WaitTime0.3;

GripLoadLoadFull;

MoveLOffs(pPick2,0,0,400),MinSpeed,z50,tGrip\WObj:=wobj0;

ENDPROC

PROCrPlace1()

rPosition1;

MoveJOffs(pPlace1,0,0,400),MidSpeed,z50,tGrip\WObj:=wobj0;

MoveLpPlace1,MinSpeed,fine,tGrip\WObj:=wobj0;

ResetdoGrip;

WaitTime0.3;

GripLoadLoadEmpty;

MoveLOffs(pPlace1,0,0,400),MidSpeed,z50,tGrip\WObj:=wobj0;

MoveJOffs(pPick1,0,0,400),MaxSpeed,z50,tGrip\WObj:=wobj0;

nCount1:=nCount1+1;

IFnCount1>20THEN

bPalletFull1:=TRUE;

ENDIF

ENDPROC

PROCrPlace2()

rPosition2;

MoveJOffs(pPlace2,0,0,400),MaxSpeed,z50,tGrip\WObj:=wobj0;

MoveLpPlace2,MinSpeed,fine,tGrip\WObj:=wobj0;

ResetdoGrip;

WaitTime0.3;

GripLoadLoadEmpty;

MoveLOffs(pPlace2,0,0,400),MidSpeed,z50,tGrip\WObj:=wobj0;

MoveJOffs(pPick2,0,0,400),MaxSpeed,z50,tGrip\WObj:=wobj0;

nCount2:=nCount2+1;

IFnCount2>20THEN

bPalletFull2:=TRUE;

ENDIF

ENDPROC

PROCrPosition1()

TESTnCount1

CASE1:

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);

CASE4:

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_0,0,600+10,600);

CASE17:

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

ENDPROC

PROCrPosition2()

TESTnCount2

CASE1:

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_90,800+20,400+10,0);

CASE6:

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_0,0,600+10,600);

CASE17:

pPlace2:=Offs(pbase2_0,600+10,600+10,600);

CASE18:

pPlace2:=Offs(pbase2_90,0,0,600);

CASE19:

pPlace2:=Offs(pbase2_90,400+10,0,600);

CASE20:

pPlace2:=Offs(pbase2_90,800+20,0,600);

DEFAULT:

TPErase;

TPWrite"theCounterofline1iserror,pleasecheckit!";

Stop;

ENDTEST

ENDPROC

PROCrModify()

MoveJpHome,MinSpeed,fine,tGrip\WObj:=wobj0;

MoveJpPick1,MinSpeed,fine,tGrip\WObj:=wobj0;

MoveJpbase1_0,MinSpeed,fine,tGrip\WObj:=wobj0;

MoveJpbase1_90,MinSpeed,fine,tGrip\WObj:=wobj0;

MoveJpPick2,MinSpeed,fine,tGrip\WObj:=wobj0;

MoveJpbase2_0,MinSpeed,fine,tGrip\WObj:=wobj0;

MoveJpbase2_90,MinSpeed,fine,tGrip\WObj:=wobj0;

ENDPROC

ENDMODULE


 [A1]第四行有误


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