| _vel\cp | Double | Maps to $VEL.CP in the Kuka RCS (m/sec; -1 and up where -1 means use RCS default/last sent value) |
| _vel\ori1 | Double | Maps to $VEL.ORI1 in the Kuka RCS (deg/sec; -1 and up where -1 means use RCS default/last sent value) |
| _vel\ori2 | Double | Maps to $VEL.ORI2 in the Kuka RCS (deg/sec; -1 and up where -1 means use RCS default/last sent value) |
| _acc\cp | Double | Maps to $ACC.CP in the Kuka RCS (m/sec^2;-1 and up where -1 means use RCS default/last sent value) |
| _acc\ori1 | Double | Maps to $ACC.ORI1 in the Kuka RCS (deg/sec^2;-1 and up where -1 means use RCS default/last sent value) |
| _acc\ori2 | Double | Maps to $ACC.ORI2 in the Kuka RCS (deg/sec^2;-1 and up where -1 means use RCS default/last sent value) |
| _apo\cvel | Integer | Maps to $APO.CVEL in the Kuka RCS (-1 to 100 where -1 means use RCS default/last sent value) |
| _apo\cptp | Integer | Maps to $APO.CPTP in the Kuka RCS (-1 to 100 where -1 means use RCS default/last sent value) |
| _apo\cdis | Double | Maps to $APO.CDIS in the Kuka RCS (mm) |
| _apo\cori | Double | Maps to $APO.CORI in the Kuka RCS (degrees) |
| _advance | Integer | Maps to $ADVANCE in the Kuka RCS (0 to 5) |
| _filter | Integer | Maps to $FILTER in the Kuka RCS (-1 to 543 where -1 means use RCS default / last sent value) |
| _red_vel | Integer | Maps to $RED_VEL in the Kuka RCS (0 to 100%) |
| _ov_pro | Integer | Maps to $OV_PRO in the Kuka RCS (0 to 100%) |
| _rotsys | Integer | Maps to $ROTSYS in the Kuka RCS. Must be: 0 for ABSOLUTE_MOVE, 1 for ROTSYS_TCP, 2 for ROTSYS_AS_TRA, 3 for ROTSYS_BASE |
| _ori_type | Integer | Maps to $ORI_TYPE in the Kuka RCS. Must be: 0 for ORI_TYPE_VAR, 1 for ORI_TYP_CONST, 2 for ORI_TYPE_JOINT |
| _circ_type | Integer | Maps to $CIRC_TYPE in Kuka RCS. Must be: 0 for CIRC_TYPE_BASE and 1 for CIRC_TYPE_PATH |
| _circ_angle | Double | Maps to $CIRC_ANGLE in Kuka RCS (degrees) |
| _vel_axis\not_used | Integer | Not used but required (set to 0) |
| _vel_axis\j1 _vel_axis\j2 _vel_axis\j3 _vel_axis\j4 _vel_axis\j5 _vel_axis\j6 | Integer Integer Integer Integer Integer Integer | Maps to $VEL_AXIS[1] in the Kuka RCS (0 to 100%) Maps to $VEL_AXIS[2] in the Kuka RCS (0 to 100%) Maps to $VEL_AXIS[3] in the Kuka RCS (0 to 100%) Maps to $VEL_AXIS[4] in the Kuka RCS (0 to 100%) Maps to $VEL_AXIS[5] in the Kuka RCS (0 to 100%) Maps to $VEL_AXIS[6] in the Kuka RCS (0 to 100%) |
| _vel_extax\not_used | Integer | Not used but required (set to 0) |
| _vel_extax\j1 _vel_extax\j2 _vel_extax\j3 _vel_extax\j4 _vel_extax\j5 _vel_extax\j6 | Integer Integer Integer Integer Integer Integer | Maps to $VEL_EXTAX[1] in the Kuka RCS (0 to 100%) Maps to $VEL_EXTAX[2] in the Kuka RCS (0 to 100%) Maps to $VEL_EXTAX[3] in the Kuka RCS (0 to 100%) Maps to $VEL_EXTAX[4] in the Kuka RCS (0 to 100%) Maps to $VEL_EXTAX[5] in the Kuka RCS (0 to 100%) Maps to $VEL_EXTAX[6] in the Kuka RCS (0 to 100%) |
| _acc_axis\not_used | Integer | Not used but required (set to 0) |
| _acc_axis\j1 _acc_axis\j2 _acc_axis\j3 _acc_axis\j4 _acc_axis\j5 _acc_axis\j6 | Integer Integer Integer Integer Integer Integer | Maps to $ACC_AXIS[1] in the Kuka RCS (0 to 100%) Maps to $ACC_AXIS[2] in the Kuka RCS (0 to 100%) Maps to $ACC_AXIS[3] in the Kuka RCS (0 to 100%) Maps to $ACC_AXIS[4] in the Kuka RCS (0 to 100%) Maps to $ACC_AXIS[5] in the Kuka RCS (0 to 100%) Maps to $ACC_AXIS[6] in the Kuka RCS (0 to 100%) |
| _acc_extax\not_used | Integer | Not used but required (set to 0) |
| _acc_extax\j1 _acc_extax\j2 _acc_extax\j3 _acc_extax\j4 _acc_extax\j5 _acc_extax\j6 | Integer Integer Integer Integer Integer Integer | Maps to $ACC_EXTAX[1] in the Kuka RCS (0 to 100%) Maps to $ACC_EXTAX[2] in the Kuka RCS (0 to 100%) Maps to $ACC_EXTAX[3] in the Kuka RCS (0 to 100%) Maps to $ACC_EXTAX[4] in the Kuka RCS (0 to 100%) Maps to $ACC_EXTAX[5] in the Kuka RCS (0 to 100%) Maps to $ACC_EXTAX[6] in the Kuka RCS (0 to 100%) |
| _load\m | Double | Maps to $LOAD.M in the Kuka RCS (in kg) |
| _load\not_used | Double | Not used but required (set to 0) |
| _load\cm_x _load\cm_y _load\cm_z _load\cm_a _load\cm_b _load\cm_c | Double Double Double Double Double Double | Maps to $LOAD.CM.X in the Kuka RCS (in mm) Maps to $LOAD.CM.Y in the Kuka RCS (in mm) Maps to $LOAD.CM.Z in the Kuka RCS (in mm) Maps to $LOAD.CM.A in the Kuka RCS (in deg) Maps to $LOAD.CM.B in the Kuka RCS (in deg) Maps to $LOAD.CM.C in the Kuka RCS (in deg) |
| _load\j_x _load\j_y _load\j_z | Double Double Double | Maps to $LOAD.J.X in the Kuka RCS (in kg-m^2) Maps to $LOAD.J.Y in the Kuka RCS (in kg-m^2) Maps to $LOAD.J.Z in the Kuka RCS (in kg-m^2) |
| _load_a1\m | Double | Maps to $LOAD_A1.M in the Kuka RCS (in kg) |
| _load_a1\not_used | Double | Not used but required (set to 0) |
| _load_a1\cm_x _load_a1\cm_y _load_a1\cm_z _load_a1\cm_a _load_a1\cm_b _load_a1\cm_c | Double Double Double Double Double | Maps to $LOAD_A1.CM.X in the Kuka RCS (in mm) Maps to $LOAD_A1.CM.Y in the Kuka RCS (in mm) Maps to $LOAD_A1.CM.Z in the Kuka RCS (in mm) Maps to $LOAD_A1.CM.A in the Kuka RCS (in mm) Maps to $LOAD_A1.CM.B in the Kuka RCS (in mm) Maps to $LOAD_A1.CM.C in the Kuka RCS (in mm) |
| _load_a1\j_x _load_a1\j_y _load_a1\j_z | Double Double Double | Maps to $LOAD_A1.J.X in the Kuka RCS (in kg-m^2) Maps to $LOAD_A1.J.Y in the Kuka RCS (in kg-m^2) Maps to $LOAD_A1.J.Z in the Kuka RCS (in kg-m^2) |
| _load_a2\m | Double | Maps to $LOAD_A2.M in the Kuka RCS (in kg) |
| _load_a2\not_used | Double | Not used but required (set to 0) |
| _load_a2\cm_x _load_a2\cm_y _load_a2\cm_z _load_a2\cm_a _load_a2\cm_b _load_a2\cm_c | Double Double Double Double Double Double | Maps to $LOAD_A2.CM.X in the Kuka RCS (in mm) Maps to $LOAD_A2.CM.Y in the Kuka RCS (in mm) Maps to $LOAD_A2.CM.Z in the Kuka RCS (in mm) Maps to $LOAD_A2.CM.A in the Kuka RCS (in mm) Maps to $LOAD_A2.CM.B in the Kuka RCS (in mm) Maps to $LOAD_A2.CM.C in the Kuka RCS (in mm) |
| _load_a2\j_x _load_a2\j_y _load_a2\j_z | Double Double Double | Maps to $LOAD_A2.J.X in the Kuka RCS (in kg-m^2) Maps to $LOAD_A2.J.Y in the Kuka RCS (in kg-m^2) Maps to $LOAD_A2.J.Z in the Kuka RCS (in kg-m^2) |
| _load_a3\m | Double | Maps to $LOAD_A3.M in the Kuka RCS (in kg) |
| _load_a3\not_used | Double | Not used but required (set to 0) |
| _load_a3\cm_x _load_a3\cm_y _load_a3\cm_z _load_a3\cm_a _load_a3\cm_b _load_a3\cm_c | Double Double Double Double Double Double | Maps to $LOAD_A3.CM.X in the Kuka RCS (in mm) Maps to $LOAD_A3.CM.Y in the Kuka RCS (in mm) Maps to $LOAD_A3.CM.Z in the Kuka RCS (in mm) Maps to $LOAD_A3.CM.A in the Kuka RCS (in mm) Maps to $LOAD_A3.CM.B in the Kuka RCS (in mm) Maps to $LOAD_A3.CM.C in the Kuka RCS (in mm) |
| _load_a3\j_x _load_a3\j_y _load_a3\j_z | Double Double Double | Maps to $LOAD_A3.J.X in the Kuka RCS (in kg-m^2) Maps to $LOAD_A3.J.Y in the Kuka RCS (in kg-m^2) Maps to $LOAD_A3.J.Z in the Kuka RCS (in kg-m^2) |
| _rrs_spline
| String | = "start" -> maps robot move activity to "SPLINE; SPL [SLIN | SCIRC]" = "end" -> maps robot move activity to "SPL [SLIN | SCIRC]; ENDSPLINE" = "" (default value) -> does nothing All robot move activities between those with attributes _rrs_spline="start" and "end" (inclusive) are considered to be segments of the same spline move. Segment type is determined by the following mapping: Motion Type = JNT -> SPL = LIN -> SLIN = CIRV; CIR -> SCIRC |
| _gear_jerk_all_joints | Integer | = -1 -> use RCS default for $GEAR_JERK[*] = 1 to 100 -> set $GEAR_JERK[*] = 1 to 100 This attribute sets gear jerk to the same value for all joints. It can also be set on the V6 device. |
| _gear_jerk\not_used _gear_jerk\1 _gear_jerk\2 _gear_jerk\3 _gear_jerk\4 _gear_jerk\5 _gear_jerk\6 | Integer | = -1 -> use RCS default for $GEAR_JERK[jN] (N=1-6) = 1 to 100 -> set $GEAR_JERK[jN] = 1 to 100 (N=1-6) These attributes allow setting gear jerks to different values for each primary axis of the robot. Must set all 7 attributes as a group and in the order shown here. These attributes can also be set on the V6 device. |
| _gear_jerk_extax\not_used _gear_jerk_extax\1 _gear_jerk_extax\2 _gear_jerk_extax\3 _gear_jerk_extax\4 _gear_jerk_extax\5 _gear_jerk_extax\6 | Integer | = -1 -> use RCS default for $GEAR_JERK[jN] (N=7-12) = 1 to 100 -> set $GEAR_JERK[jN] = 1 to 100 (N=7-12) These attributes allow setting gear jerks to different values for each external axis of the robot. Must set all 7 attributes as a group and in the order shown here. These attributes can also be set on the V6 device. |