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1、實(shí)訓(xùn)項(xiàng)目10 曲線軌跡運(yùn)行1、在 ROBOTSTUDIO中進(jìn)行機(jī)器人及周邊設(shè)備的合理布局。2、在 ROBOTSTUDIO中的基本工具的使用3、 Smart 組件的基本使用4、事件管理器的使用5、機(jī)器人IO 信號(hào)的設(shè)定與鏈接6、機(jī)器人自動(dòng)軌跡的創(chuàng)建7、仿真的調(diào)試。機(jī)器人工作站的布局所有的部件已包含在打包文件中。 雙擊打開打包文件后， 請(qǐng)按照以下的圖 1 中所示進(jìn)行布局。圖 1 機(jī)器人工作站的布局示意要注意的問(wèn)題：1、機(jī)器人與周邊的部件的位置要合理，周邊部件應(yīng)在機(jī)器人的工作范圍的中間位置為佳。2、可以對(duì)機(jī)器人的操作， 以確認(rèn)機(jī)器人可以到達(dá)要取、 放的最遠(yuǎn)端是可以順利到達(dá)的，否則以后再調(diào)整就會(huì)很麻煩

2、了。Smart 組件的基本使用smart 組件創(chuàng)建操作：建模-smart 組件 -添加組件，建立如下表組件，詳情看視頻。11、添加左邊三個(gè)組件2、設(shè)置第一個(gè)組件的屬性3、設(shè)置第二個(gè)組件的屬性24、設(shè)置第三個(gè)組件的屬性5、新建一個(gè)控制信號(hào)6、進(jìn)行 SC 組件內(nèi)部 I/O 連接3機(jī)器人 IO 的設(shè)定為了實(shí)現(xiàn)真夾具動(dòng)作的夾/放的動(dòng)作控制， 為了至少需要設(shè)定一個(gè)虛擬的數(shù)字輸出信號(hào)，這個(gè)信號(hào)只用于虛擬仿真的作用，并沒(méi)有與實(shí)際的總線或IO 板進(jìn)行關(guān)聯(lián)。數(shù)字輸出信號(hào)的設(shè)定菜單操作為： 控制器 -配置編輯器 -IO SYSTEM-SIGNAL 。然后信號(hào)設(shè)定為以下的表 1 的參數(shù)：機(jī)器人軌跡的創(chuàng)建機(jī)器人的動(dòng)作

3、是從左側(cè)的碼垛盤存放處搬運(yùn)到右邊的的方形的碼垛盤處。具體的操作方法如下：1、設(shè)置正確的工件坐標(biāo)與工具，如下圖所示：2、根據(jù)具體的情況，設(shè)定正確的機(jī)器人運(yùn)動(dòng)指令的參數(shù)，如下圖所示：3、根據(jù)動(dòng)作的要求通過(guò)示教指令的方法，創(chuàng)建對(duì)應(yīng)的軌跡程序，程序樣板如下圖所示：MODULE Module1CONST robtargetTarget_10:=2160,873,550.000445556,0,0,1,0,0,-1,0,0,9E9,9E9,9E9,9E9,9E9,9 E9;CONST robtargetTarget_20:=2235,948,550.000445556,0,0,1,0,0,-1,0,0,9

4、E9,9E9,9E9,9E9,9E9,9E9;CONST robtargetTarget_30:=2160,1023,550.000445556,0,0,1,0,0,-1,0,0,9E9,9E9,9E9,9E9,9E9,9E9;CONST robtarget4Target_40:=2085,948,550.000445556,0,0,1,0,0,-1,0,0,9E9,9E9,9E9,9E9,9E9,9 E9;CONST robtargetTarget_50:=2160,873,550.000445556,0,0,1,0,0,-1,0,0,9E9,9E9,9E9,9E9,9E9,9E9;CONS

5、T robtargetTarget_60:=2093.59,672.09,550.000445556,0,0.009075587,0.999958816,0,-1,0,-1,0,9E9,9E9,9E9,9E9,9E9,9E9;CONST robtargetTarget_70:=2213.5,567.706766527,550.000445556,0,0.009075587,0.999958816,0,-1,0,-1,0,9E9,9E9,9E9,9E9,9E9,9E9;CONST robtargetTarget_80:=2093.59,472.02,550.000445556,0,0.00907

6、5587,0.999958816,0,-1,0,-1,0,9E9,9E9,9E9,9E9,9E9,9E9;CONST robtargetTarget_90:=2093.59,672.09,550.000445556,0,0.009075587,0.999958816,0,-1,0,-1,0,9E9,9E9,9E9,9E9,9E9,9E9;CONST robtargetTarget_100:=1830,1018,550.000445556,0,0,1,0,0,-1,0,0,9E9,9E9,9E9,9E9,9E9,9E9;CONST robtargetTarget_110:=1980,1018,5

7、50.000445556,0,0,1,0,0,-1,0,0,9E9,9E9,9E9,9E9,9E9,9E9;CONST robtargetTarget_120:=1980,868,550.000445556,0,0,1,0,0,-1,0,0,9E9,9E9,9E9,9E9,9E9,9E9;CONST robtargetTarget_130:=1830,868,550.000445556,0,0,1,0,0,-1,0,0,9E9,9E9,9E9,9E9,9E9,9E9;CONST robtargetTarget_140:=1830,1018,550.000445556,0,0,1,0,0,-1,

8、0,0,9E9,9E9,9E9,9E9,9E9,9E9;CONST robtargetTarget_150:=1853.92893617,657.225766889,550.000445556,0,0,1,0,-1,0,-1,0,9E9,9E9,9E9,9E9,9E9,9E9;CONST robtargetTarget_160:=1985.692325914,657.225766889,550.000445556,0,0,1,0,-1,0,-1,0,9E9,9E9,9E9,9E9,9E9,9E9;CONST robtargetTarget_170:=1989.22785982,655.7613

9、00794,550.000445556,0,0,1,0,-1,0,-1,0,9E9,9E9,9E9,9E9,9E9,9E9;CONST robtargetTarget_180:=1990.692325914,652.225766889,550.000445556,0,0,1,0,-1,0,-1,0,9E9,9E9,9E9,9E9,9E9,9E9;5CONST robtargetTarget_190:=1990.022452933,431.075138269,550.000445556,0,0,1,0,-1,0,-1,0,9E9,9E9,9E9,9E9,9E9,9E9;CONST robtarg

10、etTarget_200:=1985.692325914,428.575138269,550.000445556,0,0,1,0,-1,0,-1,0,9E9,9E9,9E9,9E9,9E9,9E9;CONST robtargetTarget_210:=1853.92893617,428.575138269,550.000445556,0,0,1,0,-1,0,-1,0,9E9,9E9,9E9,9E9,9E9,9E9;CONST robtargetTarget_220:=1850.393402264,430.039604363,550.000445556,0,0,1,0,-1,0,-1,0,9E

11、9,9E9,9E9,9E9,9E9,9E9;CONST robtargetTarget_230:=1848.92893617,433.575138269,550.000445556,0,0,1,0,-1,0,-1,0,9E9,9E9,9E9,9E9,9E9,9E9;CONST robtargetTarget_240:=1848.92893617,652.225766889,550.000445556,0,0,1,0,-1,0,-1,0,9E9,9E9,9E9,9E9,9E9,9E9;CONST robtargetphome:=2069.588948583,748.5,1072.64724139

12、6,0.190808872,0,0.981627207,0,0,0,0,0,9E9,9E9,9E9,9E9,9E9,9E9;CONST robtargetps1:=2160.000047527,873.000716174,622.945285275,-0.00000066,0.000000266,1,0.00000046,0,-1,0,0,9E9,9E9,9E9,9E9,9E9,9E9;CONST robtargetps2:=2093.589908743,672.089979182,634.540226904,-0.00000043,0.009075636,0.999958816,0.0000

13、00137,-1,0,-1,0,9E9,9E9,9E9,9E9,9E9,9E9;CONST robtargetps3:=1829.999840396,1018.00037035,584.970769809,0.000000194,-0.00000041,1,-0.000000117,0,-1,0,0,9E9,9E9,9E9,9E9,9E9,9E9;CONST robtargetps4:=1853.929210437,657.225634438,596.606943259,0.000000436,-0.000000132,1,-0.000000114,-1,0,-1,0,9E9,9E9,9E9,

14、9E9,9E9,9E9;PROC Path_10()MoveJ phome,v1000,z100,MyToolWObj:=Wobj1; MoveJ ps1,v1000,z100,MyToolWObj:=Wobj1; MoveL Target_10,v1000,z100,MyToolWObj:=Wobj1; Set do3;MoveC Target_20,Target_30,v1000,z100,MyToolWObj:=Wobj1;MoveC Target_40,Target_50,v1000,fine,MyToolWObj:=Wobj1;Setdo1;Resetdo1;Setdo2;Reset

15、do2;6Resetdo3;MoveJ ps1,v1000,z100,MyToolWObj:=Wobj1; MoveJ ps2,v1000,z100,MyToolWObj:=Wobj1; MoveL Target_60,v1000,fine,MyToolWObj:=Wobj1; Setdo3;MoveL Target_70,v1000,z100,MyToolWObj:=Wobj1; MoveL Target_80,v1000,z100,MyToolWObj:=Wobj1; MoveL Target_90,v1000,fine,MyToolWObj:=Wobj1; Setdo1;Resetdo1

16、;Setdo2;Resetdo2;Resetdo3;MoveJ ps2,v1000,z100,MyToolWObj:=Wobj1; MoveJ ps3,v1000,z100,MyToolWObj:=Wobj1; MoveL Target_100,v1000,fine,MyToolWObj:=Wobj1; Setdo3;MoveL Target_110,v1000,z100,MyToolWObj:=Wobj1;MoveL Target_120,v1000,z100,MyToolWObj:=Wobj1;MoveL Target_130,v1000,z100,MyToolWObj:=Wobj1;Mo

17、veL Target_140,v1000,fine,MyToolWObj:=Wobj1;Setdo1;Setdo2;Resetdo1;Resetdo2;Resetdo3;MoveJ ps3,v1000,z100,MyToolWObj:=Wobj1; MoveJ ps4,v1000,z100,MyToolWObj:=Wobj1; MoveL Target_150,v1000,fine,MyToolWObj:=Wobj1; Setdo3;MoveL Target_160,v1000,z100,MyToolWObj:=Wobj1;MoveL Target_170,v1000,z100,MyToolW

18、Obj:=Wobj1;MoveL Target_180,v1000,z100,MyToolWObj:=Wobj1;MoveL Target_190,v1000,z100,MyToolWObj:=Wobj1;MoveL Target_200,v1000,z100,MyToolWObj:=Wobj1;MoveL Target_210,v1000,z100,MyToolWObj:=Wobj1;MoveL Target_220,v1000,z100,MyToolWObj:=Wobj1;MoveL Target_230,v1000,z100,MyToolWObj:=Wobj1;MoveL Target_

19、240,v1000,fine,MyToolWObj:=Wobj1;Setdo1;Resetdo1;Setdo2;Resetdo2;Resetdo3;7MoveJ ps4,v1000,z100,MyToolWObj:=Wobj1;MoveJ phome,v1000,z100,MyToolWObj:=Wobj1;ENDPROCPROC Path_20()MoveJ ps2,v1000,z100,MyToolWObj:=Wobj1; MoveL Target_60,v1000,fine,MyToolWObj:=Wobj1; Set do3;MoveL Target_70,v1000,z100,MyT

20、oolWObj:=Wobj1;MoveL Target_80,v1000,z100,MyToolWObj:=Wobj1;MoveL Target_90,v1000,fine,MyToolWObj:=Wobj1;Setdo1;Resetdo1;Setdo2;Resetdo2;Resetdo3;MoveJ ps2,v1000,z100,MyToolWObj:=Wobj1;ENDPROCPROC Path_30()MoveJ ps3,v1000,z100,MyToolWObj:=Wobj1; MoveL Target_100,v1000,fine,MyToolWObj:=Wobj1; Set do3

21、;MoveL Target_110,v1000,z100,MyToolWObj:=Wobj1; MoveL Target_120,v1000,z100,MyToolWObj:=Wobj1; MoveL Target_130,v1000,z100,MyToolWObj:=Wobj1; MoveL Target_140,v1000,fine,MyToolWObj:=Wobj1; Setdo1;Resetdo1;Setdo2;Resetdo2;Resetdo3;MoveJ ps3,v1000,z100,MyToolWObj:=Wobj1;ENDPROCPROC Path_40()MoveJ ps4,v1000,z100,MyToolWObj:=Wobj1; MoveL Target_150,v1000,fine,MyToolWObj:=Wobj1; Set do3;MoveL Target_16

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