Kuka RRS Interface

The following information is specific to the Kuka RRS server.

The device controller sample rate is automatically set to the appropriate RRS heartbeat value (12 msec) when RRS is enabled, and is reset back to the pre-RRS value when RRS is disabled.

The RRS interface maps V6 Controller Profile parameters into RRS parameters as follows:

$ipo_mode = "#BASE" when doing "Object-Related Interpolation"
          = "#TCP" when doing "Gripper-Related Interpolation"

$vel.cp = Motion Profile TCP_LINEAR_SPEED (or "TCP_LINEAR_SPEED [%] * Max TCP Linear Speed / 100")

$vel.ori1 = Motion Profile TCP_ANGULAR_SPEED (or "TCP_ANGULAR_SPEED [%] * Max TCP Angular 1 Speed / 100") 
$vel.ori2 = Motion Profile TCP_ANGULAR_SPEED (or "TCP_ANGULAR_SPEED [%] * Max TCP Angular 2 Speed / 100")

$vel_axis[ii] = Motion Profile TCP_LINEAR_SPEED [%] (or "TCP_LINEAR_SPEED * 100 / Max TCP Linear Speed")

$vel_extax[ii] = Motion Profile TCP_LINEAR_SPEED [%] (or "TCP_LINEAR_SPEED * 100 / Max TCP Linear Speed") 

$acc.cp = Motion Profile TCP_LINEAR_ACCELERATION parameter (or "TCP_LINEAR_ACCELERATION [%] * Max TCP Linear Acceleration / 100") 

$acc.ori1 = Motion Profile TCP_ANGULAR_ACCELERATION (or "TCP_ANGULAR_ACCELERATION [%] * Max TCP Angular 1 Acceleration / 100") 
$acc.ori2 = Motion Profile TCP_ANGULAR_ACCELERATION (or "TCP_ANGULAR_ACCELERATION [%] * Max TCP Angular 2 Acceleration / 100")

$acc_axis[ii] = Motion Profile TCP_LINEAR_ACCELERATION [%] (or "TCP_LINEAR_ACCELERATION * 100 / Max TCP Linear Acceleration") 

$acc_extax[ii] = "Accel Value"; if "Motion Type" = JOINT 

$apo.cdis = "Accuracy Value"; if "Accuracy Type" = DISTANCE 
          = 0 otherwise 

$apo.cptp = "Accuracy Value"; if "Accuracy Type" = SPEED 
          = 0 otherwise 

$apo.cvel = "Accuracy Value"; if "Accuracy Type" = SPEED 
          = 0 otherwise 

$apo.cori = 5.0

flyby qualifier(s) = C_PTP; if "Accuracy Type" = SPEED 
                         and "Motion Type" = JOINT 
                   = C_VEL; if "Accuracy Type" = SPEED 
                         and "Motion Type" != JOINT and != SLEW 
                   = C_PTP, C_DIS; if = DISTANCE and "Motion Type" = JOINT 
                   = C_DIS; if "Accuracy Type" = DISTANCE 
                          and "Motion Type" != JOINT

$advance = 3 
$filter = -1 (no filter value sent to RCS) 
$red_vel = 100 
$ov_pro = 100 
$rotsys = KUKA_ROTSYS_ABSOLUTE_MOVE 
$ori_interpolation_mode = KUKA_TWO_ANGLES_CIRCULAR_SLICING if "Orientation" = 3_Axis 
                        = KUKA_TWO_ANGLE otherwise 
$ori_type = KUKA_ORI_TYPE_JOINT if "Orientation" = WRIST 
          = KUKA_ORI_TYPE_CONSTANT if "Orientation" = 2_Axis 
          = KUKA_ORI_TYPE_VAR otherwise 

$circ_type = KUKA_CIRC_TYPE_PATH; if "Orientation = 3_Axis" 
           = KUKA_CIRC_TYPE_BASE; otherwise 
$circ_angle = 0

$load = Tool Profile's "Mass", "Centroid", "Ixx", "Iyy", and "Izz" if "Mass" < 99999 kg. 
      = Use RRS default (i.e. do not send any $LOAD data to RRS) if "Mass" >= 99999 kg.
$load_a3 = Use RRS default (i.e. do not send any $LOAD_A3 data to RRS)
E1 target value (for 7 kinematic axis robots) = Programmed Elbow Angle (in Jog panel Cartesian tab