Hyundai RRS Profiles/Attributes

This section describes the attributes supported by the Hyundai RRS interface.

These can be set via either:

  • the provided pre-defined Hyundai 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
Hyundai RRS Servers
Hyundai RRS Interface

Hyundai HI4A Attributes for Robot Motion

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 TypeCorresponding Hyundai RCS Parameter
_intp_err_deal Integer IntpErrDeal parameter where: 0: give up planned direction and only follow the planned position 1: stop the robot and issue an error
_j7_soft_limit_max … _j12_soft_limit_max Double Soft limit max for axes 7-12. SoftLimitMax.7 … SoftLimitMax.12 parameter (mm, deg).
_j7_soft_limit_min … _j12_soft_limit_min Double Soft limit min for axes 7-12. SoftLimitMin.7 … SoftLimitMin.12 parameter (mm, deg).