Nachi AX RRS Interface

This section describes the Nachi AX RRS interface.

This page discusses:

Information about Nachi AX RRS Interface
Altering the NACHI_AX.manip File

Information about Nachi AX RRS Interface

The following information is specific to the Nachi AX 1.XX server.

The Device Controller Sample Rate is automatically set to the appropriate RRS heartbeat value (8 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 Nachi RCS parameters as follows:

Computing accuracy level

if the Accuracy Profile Index value is
set
    Use the Accuracy Profile Index value as the Accuracy Type
else
if ACCURACY_TYPE=SPEED then
    if ACCURACY_VALUE <= 0% then
    Use Accuracy Type = 1
    else
    if 0%< ACCURACY_VALUE <= 5%
    Use Accuracy Type = 2
    else
    if 5% < ACCURACY_VALUE <= 10%
    Use Accuracy Type = 3
    else
    if 10% < ACCURACY_VALUE <= 15%
    Use Accuracy Type = 4 
    else
    if 15% < ACCURACY_VALUE <= 25%
    Use Accuracy Type = 5
    else
    if 25% < ACCURACY_VALUE <= 50%
    Use Accuracy Type = 6
    else
    if 50% < ACCURACY_VALUE <= 75%
    Use Accuracy Type = 7
    else
    if Accuracy Value > 75%
    Use Accuracy Type = 8
else
if ACCURACY_TYPE=DISTANCE then
    if ACCURACY_VALUE <= 0 mm then
    Use Accuracy Type = 1
    else
    if 0 mm < ACCURACY_VALUE <= 5mm
    Use Accuracy Type = 2
    else
    if 5 mm < ACCURACY_VALUE <= 10mm
    Use Accuracy Type = 3
    else
    if 10 mm < ACCURACY_VALUE <= 25mm
    Use Accuracy Type = 4
    else
    if 25 mm < ACCURACY_VALUE <= 50mm
    Use Accuracy Type = 5
    else 
    if 50 mm < ACCURACY_VALUE <= 100mm
    Use Accuracy Type = 6
    else
    if 100 mm < ACCURACY_VALUE <= 200mm
    Use Accuracy Type = 7
    else
    if Accuracy Value > 200 mm
    Use Accuracy Type = 8

Computing tool number

Tool number is computed in order to determine the tool frame name sent to the RCS module as follows:

if Tool Profile INDEX parameter is set then
Use that as the TOOL_NUMBER
else 
if Tool Profile name is of the form “*[#]*” then
Use # as the TOOL_NUMBER
else
Use 0 as the TOOL_NUMBER
if TOOL_NUMBER=0
    Use TOOL as the tool frame name
else
Use TOOL[<TOOL_NUMBER>] as the tool frame name

Accel Value Mapping

Accel Value < 33%
-> SET_JOINT_ACCELERATION (AccelPercent[0] = 3)
33% <= Accel Value < 66%
-> SET_JOINT_ACCELERATION (AccelPercent[0] = 2)
66% <= Accel Value < 99%
-> SET_JOINT_ACCELERATION (AccelPercent[0] = 1)
Accel Value > 99%
-> SET_JOINT_ACCELERATION (AccelPercent[0] = 0)

This RRS interface supports fixed TCP (stationary tool) interpolation in addition to the usual moving TCP interpolation. Fixed TCP is typically used for the scenario where the tool position is fixed in the cell, the gripper is holding the part, and all tag points to move to are attached to this part. By default, the RRS module performs moving TCP interpolation.

Altering the NACHI_AX.manip File

NACHI_AX.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 NACHI_AX.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 Nachi AX RRS module allows, or to create their own custom list of manipulators.

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