实训项目10 曲线轨迹运行文档格式.docx
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2、可以对机器人的操作，以确认机器人可以到达要取、放的最远端是可以顺利到达的，否则以后再调整就会很麻烦了。
Smart组件的基本使用
smart组件创建操作：
建模---smart组件---添加组件，建立如下表组件，详情看视频。
机器人IO的设定
为了实现真夹具动作的夹/放的动作控制，为了至少需要设定一个虚拟的数字输出信号，这个信号只用于虚拟仿真的作用，并没有与实际的总线或IO板进行关联。
数字输出信号的设定菜单操作为：
控制器---配置编辑器---IOSYSTEM---SIGNAL。
然后信号设定为以下的表1的参数：
机器人轨迹的创建
机器人的动作是从左侧的码垛盘存放处搬运到右边的的方形的码垛盘处。
具体的操作方法如下：
1、设置正确的工件坐标与工具，如下图所示：
2、根据具体的情况，设定正确的机器人运动指令的参数，如下图所示：
3、根据动作的要求通过示教指令的方法，创建对应的轨迹程序，程序样板如下图所示：
MODULEModule1
CONSTrobtargetTarget_10:
=[[2160,873,550.000445556],[0,0,1,0],[0,-1,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
CONSTrobtargetTarget_20:
=[[2235,948,550.000445556],[0,0,1,0],[0,-1,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
CONSTrobtargetTarget_30:
=[[2160,1023,550.000445556],[0,0,1,0],[0,-1,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
CONSTrobtargetTarget_40:
=[[2085,948,550.000445556],[0,0,1,0],[0,-1,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
CONSTrobtargetTarget_50:
CONSTrobtargetTarget_60:
=[[2093.59,672.09,550.000445556],[0,0.009075587,0.999958816,0],[-1,0,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
CONSTrobtargetTarget_70:
=[[2213.5,567.706766527,550.000445556],[0,0.009075587,0.999958816,0],[-1,0,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
CONSTrobtargetTarget_80:
=[[2093.59,472.02,550.000445556],[0,0.009075587,0.999958816,0],[-1,0,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
CONSTrobtargetTarget_90:
CONSTrobtargetTarget_100:
=[[1830,1018,550.000445556],[0,0,1,0],[0,-1,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
CONSTrobtargetTarget_110:
=[[1980,1018,550.000445556],[0,0,1,0],[0,-1,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
CONSTrobtargetTarget_120:
=[[1980,868,550.000445556],[0,0,1,0],[0,-1,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
CONSTrobtargetTarget_130:
=[[1830,868,550.000445556],[0,0,1,0],[0,-1,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
CONSTrobtargetTarget_140:
CONSTrobtargetTarget_150:
=[[1853.92893617,657.225766889,550.000445556],[0,0,1,0],[-1,0,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
CONSTrobtargetTarget_160:
=[[1985.692325914,657.225766889,550.000445556],[0,0,1,0],[-1,0,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
CONSTrobtargetTarget_170:
=[[1989.22785982,655.761300794,550.000445556],[0,0,1,0],[-1,0,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
CONSTrobtargetTarget_180:
=[[1990.692325914,652.225766889,550.000445556],[0,0,1,0],[-1,0,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
CONSTrobtargetTarget_190:
=[[1990.022452933,431.075138269,550.000445556],[0,0,1,0],[-1,0,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
CONSTrobtargetTarget_200:
=[[1985.692325914,428.575138269,550.000445556],[0,0,1,0],[-1,0,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
CONSTrobtargetTarget_210:
=[[1853.92893617,428.575138269,550.000445556],[0,0,1,0],[-1,0,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
CONSTrobtargetTarget_220:
=[[1850.393402264,430.039604363,550.000445556],[0,0,1,0],[-1,0,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
CONSTrobtargetTarget_230:
=[[1848.92893617,433.575138269,550.000445556],[0,0,1,0],[-1,0,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
CONSTrobtargetTarget_240:
=[[1848.92893617,652.225766889,550.000445556],[0,0,1,0],[-1,0,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
CONSTrobtargetphome:
=[[2069.588948583,748.5,1072.647241396],[0.190808872,0,0.981627207,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
CONSTrobtargetps1:
=[[2160.000047527,873.000716174,622.945285275],[-0.00000066,0.000000266,1,0.00000046],[0,-1,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
CONSTrobtargetps2:
=[[2093.589908743,672.089979182,634.540226904],[-0.00000043,0.009075636,0.999958816,0.000000137],[-1,0,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
CONSTrobtargetps3:
=[[1829.999840396,1018.00037035,584.970769809],[0.000000194,-0.00000041,1,-0.000000117],[0,-1,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
CONSTrobtargetps4:
=[[1853.929210437,657.225634438,596.606943259],[0.000000436,-0.000000132,1,-0.000000114],[-1,0,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
PROCPath_10（）
MoveJphome,v1000,z100,MyTool\WObj:
=Wobj1;
MoveJps1,v1000,z100,MyTool\WObj:
MoveLTarget_10,v1000,z100,MyTool\WObj:
Setdo3;
MoveCTarget_20,Target_30,v1000,z100,MyTool\WObj:
MoveCTarget_40,Target_50,v1000,fine,MyTool\WObj:
Setdo1;
Resetdo1;
Setdo2;
Resetdo2;
Resetdo3;
MoveJps1,v1000,z100,MyTool\WObj:
MoveJps2,v1000,z100,MyTool\WObj:
MoveLTarget_60,v1000,fine,MyTool\WObj:
Setdo3;
MoveLTarget_70,v1000,z100,MyTool\WObj:
MoveLTarget_80,v1000,z100,MyTool\WObj:
MoveLTarget_90,v1000,fine,MyTool\WObj:
MoveJps3,v1000,z100,MyTool\WObj:
MoveLTarget_100,v1000,fine,MyTool\WObj:
MoveLTarget_110,v1000,z100,MyTool\WObj:
MoveLTarget_120,v1000,z100,MyTool\WObj:
MoveLTarget_130,v1000,z100,MyTool\WObj:
MoveLTarget_140,v1000,fine,MyTool\WObj:
MoveJps4,v1000,z100,MyTool\WObj:
MoveLTarget_150,v1000,fine,MyTool\WObj:
MoveLTarget_160,v1000,z100,MyTool\WObj:
MoveLTarget_170,v1000,z100,MyTool\WObj:
MoveLTarget_180,v1000,z100,MyTool\WObj:
MoveLTarget_190,v1000,z100,MyTool\WObj:
MoveLTarget_200,v1000,z100,MyTool\WObj:
MoveLTarget_210,v1000,z100,MyTool\WObj:
MoveLTarget_220,v1000,z100,MyTool\WObj:
MoveLTarget_230,v1000,z100,MyTool\WObj:
MoveLTarget_240,v1000,fine,MyTool\WObj:
MoveJphome,v1000,z100,MyTool\WObj:
ENDPROC
PROCPath_20（）
MoveJps2,v1000,z100,MyTool\WObj:
MoveLTarget_60,v1000,fine,MyTool\WObj:
MoveLTarget_70,v1000,z100,MyTool\WObj:
MoveLTarget_80,v1000,z100,MyTool\WObj:
MoveLTarget_90,v1000,fine,MyTool\WObj:
PROCPath_30（）
MoveJps3,v1000,z100,MyTool\WObj:
MoveLTarget_100,v1000,fine,MyTool\WObj:
MoveLTarget_110,v1000,z100,MyTool\WObj:
MoveLTarget_120,v1000,z100,MyTool\WObj:
MoveLTarget_130,v1000,z100,MyTool\WObj:
MoveLTarget_140,v1000,fine,MyTool\WObj:
PROCPath_40（）
MoveJps4,v1000,z100,MyTool\WObj:
MoveLTarget_150,v1000,fine,MyTool\WObj:
MoveLTarget_160,v1000,z100,MyTool\WObj:
MoveLTarget_170,v1000,z100,MyTool\WObj:
MoveLTarget_180,v1000,z100,MyTool\WObj:
MoveLTarget_190,v1000,z100,MyTool\WObj:
MoveLTarget_200,v1000,z100,MyTool\WObj:
MoveLTarget_210,v1000,z100,MyTool\WObj:
MoveLTarget_220,v1000,z100,MyTool\WObj:
MoveLTarget_230,v1000,z100,MyTool\WObj:
MoveLTarget_240,v1000,fine,MyTool\WObj:
ENDMODULE
将写好的程序同步到RAPID，菜单操作：
基本---同步---同步到RAPID，如下图所示：
仿真的调试
在完成了设置与编程以后，先保存初始状态，接着下来就是要验证一下仿真动画的结果了，具体的操作如下：
1、设定要运行的RAPID子程序，在本项目中是PATH10，菜单操作如下：
仿真---仿真设定---指定PATH10，如下图所示：
2、点击仿真菜单中的“播放”就可以看到动画效果了。
动画结束后，点击“重置”，恢复到原来的状态。
升级会员 