About RRS Events/Triggers

This section describes RRS events and how they can be tied to the 3DEXPERIENCE Trigger instruction.

The RRS event functionality allows the RCS module to notify the simulation when simulation-defined events occur during RCS motion execution. Events or triggers that can be defined by the simulation include:

  • time and/or distance before/after a target is reached
  • when the robot TCP crosses a certain x, y, z plane in the robot coordinate frame
  • when some percent of the distance of current path segment is traveled
  • when some percent of the distance of current path segment is traveled and time before/after a target is reached
The following commands in the RRS Connect toolbar allow users to manipulate RRS events associated with a user selected RRS-connected robot.

While RRS Events can be defined interactively using Define RRS Events, if the RCS Trigger Emulation option is enabled for the robot, RRS Events are created automatically as each Trigger instruction is executed during robot task simulation. Details of this behavior is described in this section.

The types of RRS Events supported by each RCS module changes. Make sure the RCS module supports the RRS Event type described in the programmed Trigger instruction before enabling RCS Trigger Emulation.

This page discusses:

Define RRS Events

Define RRS Events allows interactive definition of a new RRS event for the selected robot. These event definitions get applied (i.e., passed to the RCS module) at the start of the very next robot move (invoked by any means such as jog, simulation, etc.). Possible parameter values users can select in this dialog are customized based on the RRS events features/calls supported by the RCS module.

Note that, if Target Type is set to Select Target, the Target Name can also be filled in by picking a tag point. If Halt Simulation Upon Trigger is On, the simulation is interrupted at the point the RRS event got triggered. If this option is Off the simulation continues, but a trigger notification message is displayed in robot's Define RRS Event message window.



Automatic RRS Event Creation During Trigger Instruction Simulation

If RCS Trigger emulation is selected in the RRS properties tab if the robot’s Controller Parameters/Attributes dialog box, new RRS Events are automatically created for each Trigger instruction that is executed and applied to the move operation that follows it during RRS simulation of a robot task containing Trigger instructions.

The type of RRS Event that is created and its parameters are the same as that of the corresponding Trigger instruction. As Trigger instructions are executed during robot task simulation, the corresponding RRS Events that are created can be seen in robot’s Active RRS Events dialog box that is invoked using Display RRS Events. As the RCS module signals the triggering of these RRS Events, their corresponding actions, as defined by the Action field of the Trigger instruction, are executed and the RRS Event is then removed from robot’s Active RRS Events list:

If RCS Trigger emulation is cleared, RRS Events are not created during robot task simulation and instead triggering of active Triggers is determined internally by 3DEXPERIENCE (instead of the RCS module).

Display/Cancel Active RRS Events

Display/Cancel Active RRS Events brings up a dialog box that displays all the currently active RRS events of the selected robot and the attributes. This dialog box remains available after you exit the command and its contents change as events get defined, cancelled, or triggered. The Cancel Selected RRS Events button can be used to cancel one or more active RRS events once you have selected them in this dialog box. These event cancellations get applied (i.e., sent to the RCS module) at the start of the next robot move invoked by any means (such as jog or simulation).