REXROTH VT-VSPA2-50-10/T1電氣放大板
在大多數(shù)情況下，建議從頭至尾地完成工作流，即使也可以按其他順序工作。同步將保存和加載包含RAPID模塊的文本文件，并從工作站創(chuàng)建RAPID程序。先決條件在為機(jī)器人創(chuàng)建程序之前，您應(yīng)該設(shè)置工作站，包括機(jī)器人、工件和夾具，機(jī)器人將在其中工作。為機(jī)器人編程下表描述了為機(jī)器人編程以執(zhí)行所需任務(wù)的工作流。創(chuàng)建目標(biāo)和路徑創(chuàng)建機(jī)器人執(zhí)行工作任務(wù)所需的目標(biāo)和路徑。要?jiǎng)?chuàng)建目標(biāo)和路徑，請(qǐng)執(zhí)行以下操作之一：?創(chuàng)建曲線以匹配所需形狀。然后使用“從曲線創(chuàng)建路徑”命令沿已創(chuàng)建的形狀生成路徑（包括目標(biāo)）。參見第274頁(yè)的曲線和第208頁(yè)的曲線路徑在請(qǐng)求的位置創(chuàng)建目標(biāo)，然后創(chuàng)建路徑并將創(chuàng)建的目標(biāo)插入其中。請(qǐng)參見第202頁(yè)的創(chuàng)建目標(biāo)、第201頁(yè)的教導(dǎo)目標(biāo)和第207頁(yè)的空路徑。檢查目標(biāo)方向確保目標(biāo)以最有效的方式定向，以執(zhí)行任務(wù)。如果沒有，請(qǐng)重新定向目標(biāo)，直到您滿意為止。參見第99頁(yè)的方向。檢查可達(dá)性檢查機(jī)器人和工具是否到達(dá)路徑中的所有目標(biāo)。參見第108頁(yè)的測(cè)試位置和運(yùn)動(dòng)。將程序與虛擬控制器同步從RobotStudio項(xiàng)目生成RAPID代碼，并使程序能夠模擬。執(zhí)行基于文本的編輯如果您需要編輯RobotStudio創(chuàng)建的指令或數(shù)據(jù)
In most cases, going through the workflow from start to finish is recommended, even if it
possible to work in other sequences as well.
Synchronizing will save and load text files containing RAPID modules, and create RAPID
programs from your station.
Prerequisites
Before creating a program for your robot, you should set up the station, including robots,
work pieces and fixtures, in which your robot will work.
Programming a robot
The table below describes the workflow for programming a robot to perform the task you
require.Create targets and paths Create the targets and paths the robot requires to perform the
work tasks.
To create targets and paths, do one of the following:
? Create a curve to match your required shape. Then use
the Create path from curve command to generate a
path, complete with targets, along the shape you have
created. See Curve on page 274 and Path from Curve on
page 208.
? Create targets at the requested positions, then create a
path and insert the created targets into it. See Create
Target on page 202, Teach Target on page 201 and
Empty Path on page 207.
Check the target orientations
Make sure that the targets are oriented in the most efficient way
for the tasks to be performed. If not, reorient the targets until you
are satisfied. See Orientations on page 99.
Check reachability Check that the robot and tool reach all targets in the path. See
Testing positions and motions on page 108.
Synchronize the program
to the virtual controller
Generates RAPID code from the RobotStudio items and
enables the program to be simulated.
Perform text-based
editing
If you need to edit the instructions or data created by RobotStudio
