Staubli RRS Interface

The Device's Sample Rate is automatically set to 4 msec when RRS is enabled.

The Staubli RRS interface uses the following default mapping to map DELMIA 3DEXPERIENCE parameters to Staubli RCS parameters. Note that, if Staubli RRS-specific applicative profiles/attributes are set on a move operation (see below), they may override this default mapping.

Setting Motion Type

If MOTION TYPE == JOINT
    Set RRS motion type to JOINT
Else
If MOTION TYPE == LINEAR
    Set RRS motion type to LINEAR
Else
   	ERROR: Motion Type not supported by RCS

Fixed TCP moves are not supported by this RRS interface (/Staubli RCS module).

Setting Speed

If TCP LINEAR SPEED (PERCENT) value is not explicitly set:
    Set RCS mDesc.vel = 100%

If TCP LINEAR SPEED (ABSOLUTE) value  is not explicitly set:
    Set RCS mDesc.tvel = 9999 mm/s

If TCP ANGULAR SPEED is not explicitly set:
    Set RCS mDesc.rvel = 9999 deg/s

Otherwise:

If TCP LINEAR SPEED type == PERCENT
    Set RCS mDesc.vel = TCP LINEAR SPEED (PERCENT) value
Else
If LINEAR SPEED type == ABSOLUTE
    Set RCS mDesc.tvel = TCP LINEAR SPEED (ABSOLUTE) value 

Set RCS mDesc.rvel = TCP ANGULAR SPEED PERCENT value * Max Angular Speed[0]

The Staubli RCS module ends up executing the move based on the constraining mDesc.vel/tvel/rvel speed parameter(s).

Time-based moves are not supported by this RRS interface (/Staubli RCS module).

Setting Acceleration

Set RCS mDesc.accel = TCP LINEAR ACCELERATION value

Set RCS mDesc.decel = TCP LINEAR DECELERATION value

Setting Flyby

If FLYBY MODE == OFF
	   Set RCS mDesc.blend=Off
	   Set RCS mDesc.leave=0
	   Set RCS mDesc.reach=0
Else
If ACCURACY TYPE == DISTANCE
		If MOTION TYPE == JOINT
		  Set RCS mDesc.blend=Joint
		  Set RCS mDesc.leave=FLYBY DISTANCE ACCURACY VALUE
		  Set RCS mDesc.reach=FLYBY DISTANCE ACCURACY VALUE
  If MOTION TYPE == LINEAR
		  Set RCS mDesc.blend=Cartesian
		  Set RCS mDesc.leave=FLYBY DISTANCE ACCURACY VALUE
		  Set RCS mDesc.reach=FLYBY DISTANCE ACCURACY VALUE
Else
    ERROR: Accuracy Type not supported by RCS

Conveyor Tracking

This RRS interface (/Staubli RCS) does not support conveyor tracking.