Duerr EcoRC2 RRS Interface

The Device's Sample Rate is automatically set to 8 msec when RRS is enabled.

The DUERR EcoRC2 RRS interface uses the following default mapping to map DELMIA V6 product parameters to RCS parameters. Note that if DUERR RRS-specific attributes are set on the move activity (see below), they may override this default mapping.

If MOTION_TYPE == JOINT
    Set RRS motion type to JOINT
Else
If MOTION_TYPE == LINEAR
    Set RRS motion type to LINEAR
Else
If MOTION_TYPE == CIRCULAR
    Set RRS motion type to CIRCULAR_VIA

If ORIENT_MODE == TWO_AXIS
    Set RRS orientation mode to TWO_ANGLE
Else
If ORIENT_MODE == WRIST_AXIS
    Set RRS orientation mode to WRIST_IN_JOINT

If MOTION_BASIS == ABSOLUTE
    Set RRS Cartesian speed to SPEED_VALUE
    Set RRS joint speed to SPEED_VALUE / "Max TCP Cartesian Speed"
Else
    Set RRS Cartesian speed to SPEED_VALUE * "Max TCP Cartesian Speed"
    RRS joint speed to SPEED_VALUE
Set TCP Orientation speed parameters "ORI" and "ORIZ" to 50 deg/sec

If FLYBY_MODE == OFF
    Set RRS flyby OFF
    Set RRS flyby parameters VEL=POS=ORI=ORIZ=AXIS=0
Else
    Set RRS flyby ON
    If ACCURACY_TYPE == VELOCITY
        Select RRS flyby criteria=VEL
        Set RRS flyby parameters VEL=ACCURACY_VALUE, POS=0, ORI= ORIZ=25 deg, AXIS=100%
Else
    Select RRS flyby criteria=POS
    Set RRS flyby parameters VEL=0, POS= ACCURACY_VALUE, ORI= ORIZ=25 deg, AXIS=100%