Servo Gun/Spot Emulation

Spot operation simulation for a robot with a servo gun typically involves the robot and servo gun making multiple moves (e.g. approach, pressure start, pressure, pressure end and backup moves). The decomposition of a single spot operation into these multiple moves is referred to as "Spot Emulation". Depending on the capabilities of the RCS module, V6 RRS supports two spot emulation modes:

  • V6-based Spot Emulation: In this mode, the decomposition of a spot operation into its underlying moves is performed by V6 and the RCS module is then instructed to execute each of these moves (as if they were standard moves).
  • RCS-based Spot Emulation: In this mode, V6 instructs the RCS to execute the spot instruction and hence the decomposition of the spot instruction into its underlying moves is performed by the RCS module internally.

When V6-based Spot Emulation mode is active, the underlying moves of the spot operation enabled by the user in the spot profile assigned to the spot operation (along with all other spot profile parameters) is taken into account and affects the RRS simulation behavior. In RCS-based Spot Emulation these settings are not taken into account, however other spot profile parameters along with RRS controller-specific profile parameters may be (see controller-specific sections of the RRS manual for details on this). V6-based Spot Emulation is typically used in scenarios where the RCS module does not support spot emulation.

RCS-based Spot Emulation is enabled by setting robot MCA’s _rrs1_rcs_spot_emulation attribute in the Properties dialog box to TRUE. Even with this setting, V6 RRS simulation will still revert back to V6-based Spot Emulation mode if it is determined that the RCS module does not support spot emulation.

RCS-based Spot Emulation can only be invoked on a Spot operation (i.e. not on a Robot Motion operation).