Information about Yaskawa NX100 RRS Interface
The following information is specific to the Yaskawa NX100 server.
The device's Sample Rate is automatically set to 4 msec when RRS is enabled.
The Yaskawa NX100 RRS interface uses the following logic to map DELMIA V5 RRS product parameters to RCS parameters:
Computing speed value for joint moves
if MOTION_BASIS == PERCENT then SPEED_VALUE is used as the RRS percent speed applied to all joints else if MOTION_BASIS == ABSOLUTE then (SPEED_VALUE / "Max TCP Cartesian Speed") is used as the RRS percent speed applied to all joints
Computing speed value
The Yaskawa RCS module does not support time-based moves, hence the Motion Profile MOTION_BASIS parameter must always be set to "Speed/Acceleration".
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 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
Computing Tool and Object Frame Numbers
Tool and Object Frame numbers are computed in order to determine the TOOL[#] and OBJECT[#] frame names sent to the RCS module as follows:
if Tool Profile INDEX parameter is set then Use that as the TOOL # else if Tool Profile name is of the form "*[#]*" then Use # as the TOOL # else Use 0 as the TOOL # if Object Frame Profile INDEX parameter is set then Use that as the OBJECT # else if Object Frame Profile name is of the form "*[#]*" then Use # as the OBJECT # else Use 1 as the OBJECT # if the OBJECT # is 0 then Use 1 as the OBJECT # instead
Computing ACC and DEC
The Motion Profile TCP_LINEAR_ACCELERATION parameter (or "TCP_LINEAR_ACCELERATION [%] * Max TCP Linear Acceleration / 100") is used as the Yaskawa motion instruction ACC value sent to the RCS module.
The Motion Profile TCP_LINEAR_DECELERATION parameter (or "TCP_LINEAR_DECELERATION [%] * Max TCP Linear Acceleration / 100") is used as the Yaskawa motion instruction DEC value sent to the RCS module.
Computing Elbow Angle
For 7-axis robot models (like IA-20), the programmed Elbow Angle (in the Cartesian tab of the Jog panel) is used as the E_ANGLE value sent to the RCS module.
Computing point accuracy
During RRS initialization, the RCS module is checked to determine the number of PL (accuracy) levels it supports. This determination affects how the V6 speed-based ACCURACY_VALUE parameter will be mapped to RCS PL/accuracy levels:
if the Accuracy Profile Index value is set Use the Accuracy Profile Index value as the PL value else PL=0 to 4 case: ACCURACY_VALUE < 25% AccuracyType = 0 25% <= ACCURACY_VALUE < 50% AccuracyType = 1 50% <= ACCURACY_VALUE < 75% AccuracyType = 2 75% <= ACCURACY_VALUE < 100% AccuracyType = 3 100% <= ACCURACY_VALUE AccuracyType = 4 PL=0 to 8 case: ACCURACY_VALUE < 12.5% AccuracyType = 0 12.5% <= ACCURACY_VALUE < 25% AccuracyType = 1 25.0% <= ACCURACY_VALUE < 37.5% AccuracyType = 2 37.5% <= ACCURACY_VALUE < 50% AccuracyType = 3 50.0% <= ACCURACY_VALUE < 62.5% AccuracyType = 4 62.5% <= ACCURACY_VALUE < 75% AccuracyType = 5 75.0% <= ACCURACY_VALUE < 87.5% AccuracyType = 6 87.5% <= ACCURACY_VALUE < 100% AccuracyType = 7 100.0% <= ACCURACY_VALUE AccuracyType = 8 No PL case: ACCURACY_VALUE = 63% Accuracy Type = None and Flyby=On
This default accuracy value-to-PL mapping can be altered by setting the V6 RRS user attributes MotomanDistanceBasedAccuracy, MotomanDefaultAccuracy, and MotomanDefaultJointAccuracy. Details are provided in Yaskawa NX100 Attributes for Robot Motion.