1、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copy14、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(
2、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MODULEMainMoudlePERStooldatatGrip:=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P
3、ERSrobtargetpHome:=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PERSrobtarget1路拾取目标点PERSro
4、btargetpPlace1:=-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;PERSspeeddat
5、aMidSpeed:=2500,400,5000,1000;PERSspeeddataMaxSpeed:=4000,500,5000,1000;搬运速度定义PERSboolbPalletFull1:=FALSE;PERSboolbPalletFull2:逻辑布尔量,拾取后为UE,放置后为FALSEPERSnumnCount1:=1;PERSnumnCount2:输送链计数PROCMain()rInitAll;WHILETRUEDOIFdiBoxInPos1=1ANDdiPalletInPos1=1ANDbPalletFull1=FALSETHENrPick1;rPlace1;ENDIFIFdi
6、BoxInPos2=1ANDdiPalletInPos2=1ANDbPalletFull2=FALSETHENrPick2;rPlace2;WaitTime0.1;ENDWHILEENDPROCPROCrInitAll()ResetdoGrip;pActualPos:=CRobT(tool:=tGrip);MoveLpActualPos,MinSpeed,fine,tGripWObj:=wobj0;MoveJpHome,MidSpeed,fine,tGripWObj:bPalletFull1:nCount1:bPalletFull2:nCount2:PROCrPick1()MoveJOffs(
7、pPick1,0,0,400),MaxSpeed,z50,tGripWObj:MoveLpPick1,MinSpeed,fine,tGripWObj:SetdoGrip;WaitTime0.3;GripLoadLoadFull;MoveLOffs(pPick1,0,0,400),MinSpeed,z50,tGripWObj:PROCrPick2()MoveJOffs(pPick2,0,0,400),MaxSpeed,z50,tGripWObj:MoveLpPick2,MinSpeed,fine,tGripWObj:MoveLOffs(pPick2,0,0,400),MinSpeed,z50,t
8、GripWObj:PROCrPlace1()rPosition1;MoveJOffs(pPlace1,0,0,400),MidSpeed,z50,tGripWObj:MoveLpPlace1,MinSpeed,fine,tGripWObj:GripLoadLoadEmpty;MoveLOffs(pPlace1,0,0,400),MidSpeed,z50,tGripWObj:=nCount1+1;IFnCount120THEN=TRUE;PROCrPlace2()rPosition2;MoveJOffs(pPlace2,0,0,400),MaxSpeed,z50,tGripWObj:MoveLp
9、Place2,MinSpeed,fine,tGripWObj:MoveLOffs(pPlace2,0,0,400),MidSpeed,z50,tGripWObj:=nCount2+1;IFnCount2PROCrPosition1()TESTnCount1CASE1:pPlace1:=Offs(pBase1_0,0,0,0);CASE2:=Offs(pBase1_0,600+10,0,0);CASE3:=Offs(pBase1_90,0,400+10,0);CASE4:=Offs(pBase1_90,400+10,400+10,0);CASE5:=Offs(pBase1_90,800+20,4
10、00+10,0);CASE6:=Offs(pBase1_0,0,600+10,200);CASE7:=Offs(pBase1_0,600+10,600+10,200);CASE8:=Offs(pBase1_90,0,0,200);CASE9:=Offs(pBase1_90,400+10,0,200);CASE10:=Offs(pBase1_90,800+20,0,200);CASE11:=Offs(pBase1_0,0,0,400);CASE12:=Offs(pBase1_0,600+10,0,400);CASE13:=Offs(pBase1_90,0,400+10,400);CASE14:=
11、Offs(pBase1_90,400+10,400+10,400);CASE15:=Offs(pBase1_90,800+20,400+10,400);CASE16:=Offs(pBase1_0,0,600+10,600);CASE17:=Offs(pBase1_0,600+10,600+10,600);CASE18:=Offs(pBase1_90,0,0,600);CASE19:=Offs(pBase1_90,400+10,0,600);CASE20:=Offs(pBase1_90,800+20,0,600);DEFAULT:TPErase;TPWritetheCounterofline1i
12、serror,pleasecheckit!;Stop;ENDTESTPROCrPosition2()TESTnCount2pPlace2:=Offs(pBase2_0,0,0,0);=Offs(pBase2_0,600+10,0,0);=Offs(pBase2_90,0,400+10,0);=Offs(pBase2_90,400+10,400+10,0);=Offs(pBase2_90,800+20,400+10,0);=Offs(pBase2_0,0,600+10,200);=Offs(pBase2_0,600+10,600+10,200);=Offs(pBase2_90,0,0,200);
13、=Offs(pBase2_90,400+10,0,200);=Offs(pBase2_90,800+20,0,200);=Offs(pBase2_0,0,0,400);=Offs(pBase2_0,600+10,0,400);=Offs(pBase2_90,0,400+10,400);=Offs(pBase2_90,400+10,400+10,400);=Offs(pBase2_90,800+20,400+10,400);=Offs(pBase2_0,0,600+10,600);=Offs(pBase2_0,600+10,600+10,600);=Offs(pBase2_90,0,0,600)
14、;=Offs(pBase2_90,400+10,0,600);=Offs(pBase2_90,800+20,0,600);PROCrModify()MoveJpHome,MinSpeed,fine,tGripWObj:MoveJpPick1,MinSpeed,fine,tGripWObj:MoveJpBase1_0,MinSpeed,fine,tGripWObj:MoveJpBase1_90,MinSpeed,fine,tGripWObj:MoveJpPick2,MinSpeed,fine,tGripWObj:MoveJpBase2_0,MinSpeed,fine,tGripWObj:MoveJpBase2_90,MinSpeed,fine,tGripWObj:ENDMODULE
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