Fanuc RRS Interface

This section describes the Fanuc RRS interface.

This page discusses:

See Also
Fanuc RRS Servers
Fanuc RRS Profiles/Attributes

Information about Fanuc RRS Interface

The following information is specific to the RJ3 5.XX server.

The RRS sample rate is manipulator-type dependent and is set, by default, to the native sample rate reported by the Fanuc RCS module. This default behavior can be overridden by either one of the following:

  • Specifying a negative value for "Robot Number" during RRS connection where the magnitude of this number is treated as the factor to scale the native RCS interpolation period (e.g. Robot Number = -4 results in the RCS sample rate to get set to 4 * 8 msec = 32 msec).
  • Setting the "_rrs1_sample_period : TIME" RRS device attribute to the desired sample rate (which must be an integral multiple of the native RCS interpolation period).

Computing speed/motion time for joint moves

if Motion Profile MOTION_BASIS parameter is set to TIME then
    Use the Motion Profile TIME value as the Motion Time
else
Use TCP_LINEAR_SPEED [%] (or "TCP_LINEAR_SPEED * 100 / Max TCP Linear Speed") as the TCP Speed

Computing speed/motion time for linear moves

if Motion Profile MOTION_BASIS parameter is set to TIME then
    Use the Motion Profile TIME value as the Motion Time
else
if Motion Profile TCP_LINEAR_SPEED parameter is 100% and TCP_ANGULAR_SPEED is < 100% then
    Use TCP_ANGULAR_SPEED (or “TCP_ANGULAR_SPEED [%] * Max TCP Angular 1 Speed / 100”) as the TCP Orientation Speed
else
    Use TCP_LINEAR_SPEED (or “TCP_LINEAR_SPEED [%] * Max TCP Linear Speed / 100”) as the TCP Speed

Device's controller type set to "FANUC RJ" (RJ Karel)

The Fanuc RRS interface uses the following logic to convert the ACCURACY_VALUE parameter into Fanuc point accuracy parameters. Note that currently the FLYBY_MODE is ignored and only ACCURACY_TYPE = SPEED is supported.

if FLYBY_MODE == OFF or ACCURACY_VALUE == 0% then
     Set FANUC termination type to FINE
else
{
if 0% < ACCURACY_VALUE <= 10% then
    Set FANUC termination type to COARSE
else
if 10% < ACCURACY_VALUE <= 15% then
    Set FANUC termination type to NOSETTLE
else
if 15% < ACCURACY_VALUE < 100% then
    Set FANUC termination type to VARDECEL
    Linearly map ACCURACY_VALUE in the 15% 
    to 100% range to VARDECEL range of 
    99 to 1,respectively
else (i.e. ACCURACY_VALUE == 100%)
    Set FANUC termination type to NODECEL
}

Device's controller type set to "FANUC RJ TPE" 

if ACCURACY_TYPE == Distance then 
    if FLYBY_MODE == OFF then
        Set FANUC termination type to FINE 
    else 
    if Fanuc Accupath is enabled then 
        Set FANUC termination type to CORNER_DISTANCE (or CORNER_REGION for v7 and up RCS) 
    else 
        Set FANUC termination type to NODECEL 
else (i.e. ACCURACY_TYPE == Speed) 
{ 
    if FLYBY_MODE == OFF then
        Set FANUC termination type to FINE
    else
    if ACCURACY_VALUE < 1% then
        Set FANUC termination type to NOSETTLE
    else
    if ACCURACY_VALUE > 99% then
        Set FANUC termination type to NODECEL
    else
        Set FANUC termination type to VARDECEL
        Linearly map $ROUNDING in the 1% 
        to 99% range to VARDECEL range of 
        99 to 1, respectively
}

In order for the robot the reach the last target in a process, the process must terminate with three consecutive move activities to the last target with ACCURACY_VALUE set to zero.

The ACCEL_VALUE parameter always controls the Joint Acceleration Percent value sent to the RCS. This is intended to simulate the Fanuc ACC motion option.

The Fanuc RRS interface determines which three axes to send turn numbers for in the target configuration string by interrogating the value of the $SCR_GRP[1].$TURN_AXIS[1],[2],[3] Fanuc RJ3 RCS variables. This is done immediately after RRS initialization for the device. If, for any reason, this information cannot be obtained, by default the RRS interface will send turn numbers for axes 4, 5, and 6 to the Fanuc RCS module.

The Fanuc RJ3 RCS allows users to create, use, and manipulate temporary and permanent RCS working directories based on options specified/selected in the second RRS Connect dialog's Relative Robot Path and Manipulator Type fields as follows:

Relative Robot PathManipulator TypeResulting Action
<name> V5.20 Use existing files in the Virtual Robots/<name> directory to initialize RCS instance.
<name>/N V5.20,M16i Create a new permanent RCS data directory named Virtual Robots/<name> based on the V5.20,M16i order files and use it to initialize RCS instance.
<name>/R V5.20,M6i Replace data files in existing RCS data directory named Virtual Robots/<name> with new V5.20, M6i data files.
<one or more spaces> OR * (single asterisk character) V5.20,P120 Create a temporary RCS data directory Virtual Robots/Temp Robots and populate it with V5.20,P120 data files.

Note: If an RRS connection was enabled with an RCS command (i.e., /R or /N) specified in Relative Robot Path, the RRS should be disabled and a regular RRS Connect (i.e., no RCS commands in Relative Robot Path) done before the workcell is saved with the RRS connection enabled. Otherwise, when the workcell is retrieved, the RCS will try to re-execute the RCS command specified in Relative Robot Path since this RCS command string gets saved in the workcell file as well.

When specifying an RRS debug file, enter only an RRS debug filename with no directories. The RRS debug file will be generated under the Fanuc RJ3 RCS module's Virtual Robots directory under the selected named robot directory or under Virtual Robots/Temp Robots depending on what was specified in the Relative Robot Directory field in the second RRS Connect dialog box.

Also note that, starting with the V5.20(B) RJ3 RCS module, Fanuc RCS module's interpretation of the "Debug Option" parameter has changed as follows: 

Debug Option = 0 -> No debugging
Debug Option = 1 -> Generate formatted input/output RRS log file
Debug Option = 2 -> Generate FANUC carfr RRS script file
Debug Option = 3 through 7 -> Not used

All V5 commands that invoke inverse kinematics (e.g., Jog) will use RRS-based inverse kinematics if FANUC_RJ3__5.XX RRS is enabled for the device.

Altering the FANUC_RJ3.manip file

FANUC_RJ3.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 FANUC_RJ3.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 Fanuc RJ3 RRS module allows, or to create their own custom list of manipulators.

The FANUC_RJ3.manip file must be an ASCII file with each line containing one manipulator name, with no white spaces in the name and no quotes surrounding the name.