REXROTH VT-VSPA2-50-10/T1电气放大板
在大多数情况下，建议从头至尾地完成工作流，即使也可以按其他顺序工作。同步将保存和加载包含RAPID模块的文本文件，并从工作站创建RAPID程序。先决条件在为机器人创建程序之前，您应该设置工作站，包括机器人、工件和夹具，机器人将在其中工作。为机器人编程下表描述了为机器人编程以执行所需任务的工作流。创建目标和路径创建机器人执行工作任务所需的目标和路径。要创建目标和路径，请执行以下操作之一：•创建曲线以匹配所需形状。然后使用“从曲线创建路径”命令沿已创建的形状生成路径（包括目标）。参见第274页的曲线和第208页的曲线路径在请求的位置创建目标，然后创建路径并将创建的目标插入其中。请参见第202页的创建目标、第201页的教导目标和第207页的空路径。检查目标方向确保目标以最有效的方式定向，以执行任务。如果没有，请重新定向目标，直到您满意为止。参见第99页的方向。检查可达性检查机器人和工具是否到达路径中的所有目标。参见第108页的测试位置和运动。将程序与虚拟控制器同步从RobotStudio项目生成RAPID代码，并使程序能够模拟。执行基于文本的编辑如果您需要编辑RobotStudio创建的指令或数据
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
