REXROTH VT-VSPA2-50-10/T1電氣放大板
在大多數情況下，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，并從工作站創建RAPID程序。先決條件在為機器人創建程序之前，您應該設置工作站，包括機器人、工件和夾具，機器人將在其中工作。為機器人編程下表描述了為機器人編程以執行所需任務的工作流。創建目標和路徑創建機器人執行工作任務所需的目標和路徑。要創建目標和路徑，請執行以下操作之一：?創建曲線以匹配所需形狀。然后使用“從曲線創建路徑”命令沿已創建的形狀生成路徑（包括目標）。參見第274頁的曲線和第208頁的曲線路徑在請求的位置創建目標，然后創建路徑并將創建的目標插入其中。請參見第202頁的創建目標、第201頁的教導目標和第207頁的空路徑。檢查目標方向確保目標以最有效的方式定向，以執行任務。如果沒有，請重新定向目標，直到您滿意為止。參見第99頁的方向。檢查可達性檢查機器人和工具是否到達路徑中的所有目標。參見第108頁的測試位置和運動。將程序與虛擬控制器同步從RobotStudio項目生成RAPID代碼，并使程序能夠模擬。執行基于文本的編輯如果您需要編輯RobotStudio創建的指令或數據
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
