ABB RRS Interface

By default, various parameters required by the APP RCS module are computed from V6 parameters as follows:

if Motion Profile MOTION_BASIS parameter is set to Time
    Use the Motion Profile Time value as the Motion Time
else
    ABB speeddata parameters as computed below are sent to the RCS:
        v_tcp = Motion Profile TCP_LINEAR_SPEED parameter (or “TCP_LINEAR_SPEED [%] * Max TCP Linear Speed / 100”)
        v_ori = Motion Profile TCP_ANGULAR_SPEED parameter (or “TCP_ANGULAR_SPEED [%] * Max TCP Angular 1 Speed / 100”)
        v_leax = 5000 mm/s
        v_reax = 1000 deg/s

ABB_S4C.manip is a configuration file that can be edited such that custom manipulator types either replace - or are appended to - the default list of manipulators.

If a file named ABB_S4C.manip exists in the RRS$LIB directory (by default, <arch>/code/bin) and if the first line in that file does not contain the string *REPLACE*, manipulator type strings listed in that file will be appended to the hardcoded default list of manipulators that are listed in the Manipulator field of the RRS Properties dialog during RRS connection initialization.

If the first line in this file reads *REPLACE*, then the default list of manipulators will instead be replaced with the manipulators listed in this file starting on the second line. This mechanism allows users to create custom manipulator types which the ABB S4C RRS module allows or to create their own custom list of manipulators.

The ABB_S4C.manip file should be an ASCII file with each line containing one manipulator name with no white spaces in the name and no quotes surrounding the name.