Comau RRS Profiles/Attributes

This section describes the attributes that are supported by the Comau RRS interface.

These can be set via either:

  • the provided pre-defined Comau RRS Controller-Specific Profile
  • by being added into a custom User Profile
Refer to Setting RRS Controller-Specific Attributes/Profiles for further details.

See Also
Comau RRS Servers
Comau RRS Interface

Comau C3G Attributes for Robot Operations/Activities

Attributes specified as being "non-modal" do not preserve their value from one move activity to the next, and hence must be set on each move activity (even if their value is the same).

For structure attributes, i.e., those that have a "\" in the attribute name, each component attribute must be defined in the order shown below. When these attributes are used, they will be the primary source of data that this RRS interface sends to the RCS module and will override any default mapping that may otherwise be supported.

The following controller-specific attributes must be set, in the order shown below for structure attributes, on robot operations/activities to which they apply in the robot's program (see Setting Controller-Specific Attributes for more details) in order to modify the default values for these parameters inside the RCS.

Attribute Name Attribute TypeCorresponding Comau RCS Parameter
_trajectory\spd_op Integer Maps to Comau $SPD_OPT variable: 
0 -> COMAU_SPD_CONST 
1 -> COMAU_SPD_LIN 
2 -> COMAU_SPD_JNT 
3 -> COMAU_SPD_ROT 
4 -> COMAU_SPD_SPN 
5 -> COMAU_SPD_AZI 
6 -> COMAU_SPD_ELV 
7 -> COMAU_SPD_ROLL 
8 -> COMAU_SPD_FIRST 
9 -> COMAU_SPD_SECOND 
10 -> COMAU_SPD_THIRD
_trajectory\ornt_type Integer Maps to Comau $ORNT_TYPE variable: 
0 -> COMAU_RS_WORLD 
1 -> COMAU_EUL_WORLD 
2 -> COMAU_WRIST_JNT 
3 -> COMAU_RS_TRAJ
_trajectory\lin_speed Double Maps to Comau $LIN_SPEED variable (m/sec)
_trajectory\rot_speed Double Maps to Comau $ROT_SPEED variable (rad/sec)
_flyby\movefly Integer 
0 -> FALSE 
1 -> TRUE
_flyby\fly_type Integer Maps to Comau $FLY_TYPE variable: 
0 -> COMAU_FLY_NORM 
1 -> COMAU_FLY_HIGH 
2 -> COMAU_FLY_CART
_flyby\fly_traj Integer Maps to Comau $FLY_TRAJ variable: 
0 -> COMAU_FLY_AUTO 
1 -> COMAU_FLY_PASS 
2 -> COMAU_FLY_TOL 
3 -> COMAU_FLY_FROM
_flyby\fly_dist Double Maps to Comau $FLY_DIST variable (mm)
_flyby\fly_per Integer Maps to Comau $FLY_PER variable (1 to 100 percent)
_override\jnt_ovr0 Integer Maps to Comau $JNT_OVR[0] (1 to 100 percent)
_override\jnt_ovr1 Integer Maps to Comau $JNT_OVR[1] (1 to 100 percent)
_override\jnt_ovr2 Integer Maps to Comau $JNT_OVR[2] (1 to 100 percent)
_override\jnt_ovr3 Integer Maps to Comau $JNT_OVR[3] (1 to 100 percent)
_override\jnt_ovr4 Integer Maps to Comau $JNT_OVR[4] (1 to 100 percent)
_override\jnt_ovr5 Integer Maps to Comau $JNT_OVR[5] (1 to 100 percent)
_override\prog_spd_ovr Integer Maps to Comau $PROG_SPD_OVR (1 to 100 percent)
_override\arm_spd_ovr Integer Maps to Comau $ARM_SPD_OVR (1 to 100 percent)
_override\prog_acc_ovr Integer Maps to Comau $PROG_ACC_OVR (1 to 100 percent)
_override\arm_acc_ovr Integer Maps to Comau $ARM_ACC_OVR (1 to 100 percent)
_override\prog_dec_ovr Integer Maps to Comau $PROG_DEC_OVR (1 to 100 percent)
_override\arm_dec_ovr Integer Maps to Comau $ARM_DEC_OVR (1 to 100 percent)
_override\gen_ovr Integer Maps to Comau $GEN_OVR (1 to 100 percent)
_override\arm_ovr Integer Maps to Comau $ARM_OVR (1 to 100 percent)
_advance Integer Specifies how many moves the RCS motion planner can be ahead of the RCS motion executor (>=0)
_payload\mass Double Payload mass (kg)
_payload\com_x Double Payload center of mass X value (mm)
_payload\com_y Double Payload center of mass Y value (mm)
_payload\com_z Double Payload center of mass Z value (mm)
_termination\term_type Integer Maps to Comau $TERM_TYPE: 
0 -> COMAU_FINE 
1 -> COMAU_COARSE 
2 -> COMAU_NOSETTLE 
3 -> COMAU_JNT_FINE 
4 -> COMAU_JNT_COARSE
_termination\tol_fine Double Specifies motion termination fine tolerance (msec)
_termination\tol_coarse Double Specifies motion termination coarse tolerance (msec)
_wait Integer If set to 1, the RRS interface will wait until the RCS module returns a status of "2" (final step) for GET_NEXT_STEP before it ends the current move. For a move planned as a flyby move, this will typically cause the RCS module to decelerate the robot to a full stop at this target point. Note that, by default the RRS interface ends the current move as soon as the RCS module returns a "1" (more data).
_press_application Integer If set to 1, the RRS interface will invoke the "Press Application Package Simulation" feature of the Comau C3G RCS module (version 5.51.51 and up) if the manipulator type selected during RRS connection is one that supports this feature (only SMART-H3L, SMART-H3XL, SMART-H3.2SHXL_Swift in the 5.51.51 and 5.52.52 RCS module with possibly more manipulators in future versions). Enabling the "Press Application Package Simulation" feature results in payload and manipulator type-dependent set of joint acceleration/deceleration times to be sent to the RCS module. According to Comau, using this feature will result in cycle times that more accurately agree with the actual controller running with the Comau Press Application package. Again per Comau, this feature affects only joint moves. Furthermore, these press application-specific acceleration/deceleration times are only used if they are set when the robot is not moving at the time of planning the joint move (i.e. when you change the payload mass the robot should have come to stop). There may not be any warning messages issued by the RCS module/RRS interface when these conditions are not satisfied so users should ensure that these conditions are satisfied in their application. Note that, once the "Press Application Package Simulation" feature is enabled by setting "_press_application = 1", it can not be later disabled by setting "_press_application = 0".