Hyundai RRS Interface

The following information is specific to the HI4A server.

The Sample Rate of the Device is automatically set to 10 msec when RRS is enabled.

When RRS is enabled, Hyundai HI4A RCS-based inverse kinematics is enabled.

The Hyundai HI4A RRS interface uses the following default mapping to map DELMIA V5 product parameters to RCS parameters. Note that, if Hyundai RRS-specific attributes are set on the move activity (see below), they may override this default mapping:

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

if FLYBY_MODE == OFF
    Set RRS flyby OFF
else
    Set RRS flyby ON

if the Accuracy Profile Index value is set
    Use the Accuracy Profile Index value as the Accuracy Level
else
if ACCURACY_TYPE=SPEED then 
    if (ACCURACY_VALUE < 0.166)
        Set Accuracy Level=0
    else
    if (ACCURACY_VALUE < 0.333)
        Set Accuracy Level=1
    else
    if (ACCURACY_VALUE < 0.5)
        Set Accuracy Level=2
    else
    if (ACCURACY_VALUE < 0.666)
        Set Accuracy Level=3
    else
    if (ACCURACY_VALUE < 0.833)
        Set Accuracy Level=4
    else
        Set Accuracy Level=5