Duerr EcoRC2 RRS Profiles/Attributes

DUERR ECORC2 Attributes for Robot Motion

This RRS interface supports the following Controller-Specific V6 Attributes. If used, they must first be defined on the very first Robot Motion activity in the robot's program and can then be defined on subsequent Robot Motion activities to change their value as needed.

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.


Attribute Name	Attribute Type	Corresponding DUERR ECORC2 Parameter
_acc\pos	Double	Acceleration POS parameter (mm/sec^2)
_acc\decel_pos	Double	Acceleration DECEL POS parameter (mm/sec^2)
_acc\ori	Double	Acceleration ORI parameter (deg/sec^2)
_acc\oriz	Double	Acceleration ORIZ parameter (deg/sec^2)
_acc\axis	Double	Acceleration AXIS parameter (deg/sec^2)
_accpath\pathacc	Double	Path acceleration parameter (mm/sec^2)
_accpath\pathdec	Double	Path deceleration parameter (mm/sec^2)
_interpolation_mode	Integer	Interpolation mode based on following mapping: 0 -> Note set/used, 1 -> AKIMA_CONTOUR, 2 -> AKIMA_SPLINE
_jerk\pos	Double	Jerk POS parameter (mm/sec^3)
_jerk\ori	Double	Jerk ORI parameter (deg/sec^3)
_jerk\oriz	Double	Jerk ORIZ parameter (deg/sec^3)
_jerk\axis	Double	Jerk AXIS parameter (0-100%)
_instruction1 … _instruction5	String	String DUERR instruction (such as RECEIVE, RECEIVE END, SyncLookahead, etc.) sent to the RCS module. If <5 instructions are to be sent to the RCS module, first "_instruction1", then if necessary "_instruction2", then if necessary "_instruction3" and finally, if necessary, "_instruction4" attributes should be set. "_instruction#" attributes are scanned starting from #=1 and incrementing by one until either the attribute is not defined or its value is an empty string. These attributes are non-modal.
_limiter_override	Double	Limiter override parameter (0-100%)
_movestatus	Integer	Move status type based on following mapping: 0 -> RRS Trajectory mode = OFF 1 -> RRS Trajectory mode = ON
_overlap\type	Integer	Overlap type based on following mapping: 0 -> Note set/used, 1 -> FINE, 2 -> VEL, 3 -> POS, 4 -> CPOS, 5 -> CART, 6 -> PTP
_overlap\vel	Double	Overlap VEL parameter (0-100%)
_overlap\pos	Double	Overlap POS parameter (mm)
_overlap\ori	Double	Overlap ORI parameter (deg)
_overlap\oriz	Double	Overlap ORIZ parameter (deg)
_overlap\axis	Double	Overlap AXIS parameter (0-100%)
_ramp\type	Integer	Ramp type based on following mapping: 0 -> Note set/used, 1 -> TRAPEZOID, 2 -> SINUSOID, 3 -> TRIANGLE
_ramp\factor	Double	Ramp factor (unitless)
_rrs_duerr_start_lookahead	Integer	Non-modal attribute. If set to a non-zero value, StartLookahead instruction is sent to the RCS module.
_rrs_duerr_stop_lookahead	Integer	Non-modal attribute. If set to a non-zero value, StopLookahead instruction is sent to the RCS module.
_trigger1 ... _trigger5	String	Duerr Trigger instruction assumed to be formatted as "%d,%s,%s,%f,%f,%f,%s,%s,%s" where each field is interpreted (in order) as follows: %d -> RRS event ID (integer), %s -> Trigger name (string), %s -> Trigger Tag (string), %f -> Trigger Frame NX (float), %f -> Trigger Frame NY (float), %f -> Trigger Frame NZ (float), %s -> Trigger Instruction Argument #1 (string), %s -> Trigger Instruction Argument #2 (string), %s -> Trigger Instruction Argument #3 (string). If <5 triggers are to be sent to the RCS module, first "_trigger1", then if necessary "_trigger2", then if necessary "_trigger3" and finally, if necessary, "_trigger4" attributes should be set. "_trigger#" attributes are scanned starting from #=1 and incrementing by one until either the attribute is not defined or its value is an empty string. These attributes are non-modal.
_trigger_par	String	Trigger parameter string sent "as is" to the RCS (if not an empty string)
_vel\pos	Double	Velocity POS parameter (mm/sec)
_vel\ori	Double	Velocity ORI parameter (deg/sec)
_vel\oriz	Double	Velocity ORIZ parameter (deg/sec)
_vel\axis	Double	Velocity POS parameter (0-100%)
_velpath	Double	Path velocity (mm/sec)

The Duerr RRS attributes above are pre-defined in Duerr RRS Applicative Profiles. See Setting RRS Controller-Specific Attributes/Profiles section for creating instances of these profiles and setting them on robot operations.

This RRS interface supports line and rail tracking for a single conveyor.