The RRS interface maps V6 Controller Profile parameters into Comau RCS parameters as follows.
spd_opt = SPD_LIN if "Motion Type" = STRAIGHT or CIRCULAR = SPD_JNT if "Motion Type" = JOINT = SPD_CONST if "Motion Type" is none of the above ornt_type = EUL_WORLD if "Orientation" = 3_Axis = WRIST_AXIS if "Orientation" = Wrist = RS_WORLD if "Orientation" is none of the above lin_spd = Motion Profile TCP_LINEAR_SPEED (or “TCP_LINEAR_SPEED [%] * Max TCP Linear Speed / 100”) rot_spd = "Max Angular 1 Speed" movefly = FALSE if "Flyby Mode" = Off = TRUE otherwise fly_type = FLY_CART if "Accuracy Type" = Distance = FLY_NORM otherwise fly_traj = FLY_AUTO if "Accuracy Type" = Distance and "Accuracy Value" = 0 = FLY_PASS if "Accuracy Type" = Distance and "Accuracy Value" != 0 = FLY_TOL otherwise fly_dist = "Accuracy Value" if "Accuracy Type" = Distance = 5.0 mm otherwise fly_per = Value read from RCS module if "Accuracy Type" = Distance = "Accuracy Value" if "Accuracy Type" = Speed jnt_ovr[] = 100 * "Speed Value" / "Max TCP Cartesian Speed" percent if "Motion Basis" = Absolute = "Speed Value" if "Motion Basis" = Percent prog_spd_ovr = 100 arm_spd_ovr = 100 prog_acc_ovr = 100 arm_acc_ovr = 100 prog_dec_ovr = 100 arm_dec_ovr = 100 gen_ovr = 100 arm_ovr = 100 advance = <The default value in the RCS module> (i.e. by default, the RRS interface does not issue a "SET_ADVANCE_MOTION" RRS service call) payload.mass = Tool Profile's "Mass" value payload.com_x = Tool Profile's "Centroid cx" value payload.com_y = Tool Profile's "Centroid cy" value payload.com_z = Tool Profile's "Centroid cz" value term_type = NOSETTLE tol_fine = 0 tol_coarse = 0 where "Max TCP Cartesian Speed" and "Max Angular 1 Speed" are pre-set internal device attributes of the robot model. When RRS is enabled, RRS-based inverse kinematics are automatically enabled for the device. When RRS is disabled for the device, the device inverse kinematics type reverts back to the default inverse kinematics method used by the device prior to enabling RRS. If a file named COMAU_C3G.manip exists in the RRS$LIB (by default <arch>/code/bin) directory, the manipulator types list presented in the RRS Properties dialog box during RRS connection will be altered using manipulator strings read from this file. If the first line in this file does not contain the string *REPLACE*, manipulator strings listed in this file will be appended to the hardcoded/default list of manipulators. If the first line in this file reads *REPLACE*, then the default list of manipulators will instead be replaced with manipulator strings listed in this file starting on the second line. This mechanism allows users to introduce their own custom list of manipulator strings. This file should be an ASCII file containing one manipulator string on each line which matches a C3G RCS data file name in the RCS server installation's COMAU_C3G__4.3X/bin directory. Note that V5 must be restarted if this file has been edited to see the effects of this change (if Comau C3G RRS was ever enabled). If this file does not exist, you will see the hardcoded/default list of manipulator strings listed in the RRS Properties dialog box during RRS connection. | ||||||||||