Yaskawa XRC RRS Interface

This section describes the Yaskawa XRC RRS interface.

This page discusses:

See Also
Yaskawa XRC RRS Servers
Yaskawa XRC RRS Profiles/Attributes

Information about Yaskawa XRC RRS Interface

The following information is specific to the Yaskawa XRC 1.XX server.

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

The Yaskawa XRC RRS interface uses the following logic to map DELMIA V6 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

Note: If set, the old _ori_speed and _ori_speed_for_move RRS attributes will override the above mapping and, if greater than zero, will be used instead as the TCP Orientation Speed sent to the RCS module.

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.

Note: If set, the old _acc and _dec RRS attributes will override the above mapping.

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.

Note: If set, the old _e_angle RRS attribute will override the above mapping.

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 XRC Attributes for Robot Motion.

Altering the Yaskawa_XRC.manip File

Yaskawa_XRC.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 Yaskawa_XRC.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 Yaskawa XRC RRS module allows, or to create their own custom list of manipulators.

The Yaskawa_XRC.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.