Nachi AW RRS Profiles/Attributes

This section describes the attributes supported by the Nachi AW interface.

These can be set via either:

  • the provided pre-defined Nachi AW 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
Nachi AW RRS Servers
Nachi AW RRS Interface

Nachi AW Attributes for Robot Operations/Activities

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.

This RRS interface supports end-of-arm and pedestal servo gun simulation. For this, a servo gun device must first be attached to the robot device so that the servo gun device appears as an auxiliary device of the robot with the servo gun axis appearing as the 7th axis of the overall device. The following controller-specific attributes must be defined (in the order shown below) on the first Robot Motion activity in the robot's program (see Setting Controller Specific Attributes).

Attribute NameAttribute TypeComment
_servo_gun1\squeeze_speed Double G1_SQZ_SPEED parameter in Nachi AW RCS module
_servo_gun1\moving_tip_clearance Double G1_CLR_M parameter in Nachi AW RCS module
_servo_gun1\settled_tip_clearance Double G1_CLR_S parameter in Nachi AW RCS module
_t1_axis\axis_style Integer T1_AXIS_STYLE parameter in Nachi AW RCS
_t1_axis\joint_pattern Integer T1_JNT_PTN parameter in Nachi AW RCS module
_t1_axis\max_speed Double T1_MAX_SPEED parameter in Nachi AW RCS module
_t1_axis\accel_time Double T1_ACCEL_TIME parameter in Nachi AW RCS module
_t1_axis\decel_rate Double T1_DECEL_RATE parameter in Nachi AW RCS module
_g1_squeeze Integer Should be set to 0 (no weld) or 1 (do weld). After setting it to 1, users do not need to reset it back to 0 (the RRS interface takes care of this)
_install_ang\x Double Maps to INSTALL_ANG_X in the Nachi AW RCS (deg)
_install_ang\y Double Maps to INSTALL_ANG_Y in the Nachi AW RCS (deg)
_install_ang\z Double Maps to INSTALL_ANG_Z in the Nachi AW RCS (deg)
_tool1\tcp_x Double Maps to TCP1_X in the Nachi AW RCS (mm)
_tool1\tcp_y Double Maps to TCP1_Y in the Nachi AW RCS (mm)
_tool1\tcp_z Double Maps to TCP1_Z in the Nachi AW RCS (mm)
_tool1\tcp_rx Double Maps to TCP1_RX in the Nachi AW RCS (deg)
_tool1\tcp_ry Double Maps to TCP1_RY in the Nachi AW RCS (deg)
_tool1\tcp_rz Double Maps to TCP1_RZ in the Nachi AW RCS (deg)
_tool1\tcg_x Double Maps to TCG1_X in the Nachi AW RCS (mm)
_tool1\tcg_y Double Maps to TCG1_Y in the Nachi AW RCS (mm)
_tool1\tcg_z Double Maps to TCG1_Z in the Nachi AW RCS (mm)
_tool1\load Double Maps to LOAD1 in the Nachi AW RCS (kgf)
_tool1\tina_x Double Maps to TINA1_X in the Nachi AW RCS
_tool1\tina_y Double Maps to TINA1_Y in the Nachi AW RCS
_tool1\tina_z Double Maps to TINA1_Z in the Nachi AW RCS
_tool1\tinr Double Maps to TINR1 in the Nachi AW RCS
_tool1\tmr Double Maps to TMR1 in the Nachi AW RCS
….. …..
_tool32\tcp_x Double Maps to TCP32_X in the Nachi AW RCS (mm)
_tool32\tcp_y Double Maps to TCP32_Y in the Nachi AW RCS (mm)
_tool32\tcp_z Double Maps to TCP32_Z in the Nachi AW RCS (mm)
_tool32\tcp_rx Double Maps to TCP32_RX in the Nachi AW RCS (deg)
_tool32\tcp_ry Double Maps to TCP32_RY in the Nachi AW RCS (deg)
_tool32\tcp_rz Double Maps to TCP32_RZ in the Nachi AW RCS
_tool32\tcg_x Double Maps to TCG1_X in the Nachi AW RCS (mm)
_tool32\tcg_y Double Maps to TCG1_Y in the Nachi AW RCS (mm)
_tool32\tcg_z Double Maps to TCG1_Z in the Nachi AW RCS (mm)
_tool32\load Double Maps to LOAD1 in the Nachi AW RCS (kgf)
_tool32\tina_x Double Maps to TINA1_X in the Nachi AW RCS
_tool32\tina_y Double Maps to TINA1_Y in the Nachi AW RCS
_tool32\tina_z Double Maps to TINA1_Z in the Nachi AW RCS
_tool32\tinr Double Maps to TINR1 in the Nachi AW RCS
_tool32\tmr Double Maps to TMR1 in the Nachi AW RCS
_axis11\sl_x Double Maps to SL11_X in the Nachi AW RCS (mm)
_axis11\sl_y Double Maps to SL11_Y in the Nachi AW RCS (mm)
_axis11\sl_z Double Maps to SL11_Z in the Nachi AW RCS (mm)
_axis11\sl_rx Double Maps to SL11_RX in the Nachi AW RCS (deg)
_axis11\sl_ry Double Maps to SL11_RY in the Nachi AW RCS (deg)
_axis11\sl_rz Double Maps to SL11_RZ in the Nachi AW RCS (deg)
_axis11\slcg_x Double Maps to SLCG11_X in the Nachi AW RCS (mm)
_axis11\slcg_y Double Maps to SLCG11_Y in the Nachi AW RCS (mm)
_axis11\slcg_z Double Maps to SLCG11_Z in the Nachi AW RCS (mm)
_axis11\slload Double Maps to SLLOAD11 in the Nachi AW RCS (kgf)
_axis11\slina_x Double Maps to SLINA11_X in the Nachi AW RCS
_axis11\slina_y Double Maps to SLINA11_Y in the Nachi AW RCS
_axis11\slina_z Double Maps to SLINA11_Z in the Nachi AW RCS
_axis11\slinr Double Maps to SLINR11in the Nachi AW RCS
_axis11\slmr Double Maps to SLMR11 in the Nachi AW RCS
_axis12\sl_x Double Maps to SL12_X in the Nachi AW RCS (mm)
….. ….
_axis12\slmr Double Maps to SLMR12 in the Nachi AW RCS
_axis21\sl_x Double Maps to SL21_X in the Nachi AW RCS (mm)
….. ….
_axis21\slmr Double Maps to SLMR21in the Nachi AW RCS
_axis22\sl_x Double Maps to SL22_X in the Nachi AW RCS (mm)
….. ….
_axis22\slmr Double Maps to SLMR22in the Nachi AW RCS
_axis31\sl_x Double Maps to SL31_X in the Nachi AW RCS (mm)
….. ….
_axis31\slmr Double Maps to SLMR31 in the Nachi AW RCS
_axis32\sl_x Double Maps to SL32_X in the Nachi AW RCS (mm)
…. ….
_axis32\slmr Double Maps to SLMR32 in the Nachi AW RCS
_limits\s_left Double Maps to S_LEFT in the Nachi AW RCS (deg)
_limits\s_right Double Maps to S_RIGHT in the Nachi AW RCS (deg)
_limits\h_front Double Maps to H_FRONT in the Nachi AW RCS (deg)
_limits\h_back Double Maps to H_BACK in the Nachi AW RCS (deg)
_limits\v_up Double Maps to V_UP in the Nachi AW RCS (deg)
_limits\v_down Double Maps to V_DOWN in the Nachi AW RCS (deg)
_limits\r2_for Double Maps to R2_FOR in the Nachi AW RCS (deg)
_limits\r2_rev Double Maps to R2_REV in the Nachi AW RCS (deg)
_limits\b_for Double Maps to B_FOR in the Nachi AW RCS (deg)
_limits\b_rev Double Maps to B_REV in the Nachi AW RCS (deg)
_limits\r1_for Double Maps to R1_FOR in the Nachi AW RCS (deg)
_limits\r1_rev Double Maps to R1_REV in the Nachi AW RCS (deg)
_posture\b_dead_zone Double Maps to B_DEAD_ZONE in the Nachi AW RCS (deg)
_posture\arm_config Integer Maps to ARM_CONFIG in the Nachi AW RCS
_posture\wel_lin_cor Integer Maps to WEL_LIN_COR in the Nachi AW RCS
_accuracy\acc1_length Double Maps to ACC1_LENGTH in the Nachi AW RCS (mm)
_accuracy\acc2_length Double Maps to ACC2_LENGTH in the Nachi AW RCS (mm)
_accuracy\acc3_length Double Maps to ACC3_LENGTH in the Nachi AW RCS (mm)
_accuracy\acc4_length Double Maps to ACC4_LENGTH in the Nachi AW RCS (mm)
_accuracy\acc5_length Double Maps to ACC5_LENGTH in the Nachi AW RCS (mm)
_accuracy\acc6_length Double Maps to ACC6_LENGTH in the Nachi AW RCS (mm)
_accuracy\acc7_length Double Maps to ACC7_LENGTH in the Nachi AW RCS (mm)
_accuracy\acc8_length Double Maps to ACC8_LENGTH in the Nachi AW RCS (mm)
_t1_axis\axis_style Integer Maps to T1_AXIS_STYLE in the Nachi AW RCS. Must be 2 for TRANSLATOR, 3 for SERVOGUN, 4 for TURN_TABLE.
_t1_axis\joint_pattern Integer Maps to T1_JNT_PTN in the Nachi AW RCS. Must be 1 for ROT_X_DIR, 2 for ROT_Y_DIR, 3 for ROT_Z_DIR, 15 for LINE_X_DIR, 16 for LINE_Y_DIR and 17 for LINE_Z_DIR.
_t1_axis\max_speed Double Maps to T1_MAX_SPEED in the Nachi AW RCS (rad/sec or mm/sec)
_t1_axis\accel_time Double Maps to T1_ACCEL_TIME in the Nachi AW RCS (sec)
_t1_axis\decel_rate Double Maps to T1_DECEL_RATE in the Nachi AW RCS
_t2_axis\axis_style Integer Maps to T2_AXIS_STYLE in the Nachi AW RCS. Must be 2 for TRANSLATOR, 3 for SERVOGUN, and 4 for TURN_TABLE.
_t2_axis\joint_pattern Integer Maps to T2_JNT_PTN in the Nachi AW RCS. Must be 1 for ROT_X_DIR, 2 for ROT_Y_DIR, 3 for ROT_Z_DIR, 15 for LINE_X_DIR, 16 for LINE_Y_DIR, and 17 for LINE_Z_DIR.
_t2_axis\max_speed Double Maps to T2_MAX_SPEED in the Nachi AW RCS (rad/sec or mm/sec)
_t2_axis\accel_time Double Maps to T2_ACCEL_TIME in the Nachi AW RCS (sec)
_t2_axis\decel_rate Double Maps to T2_DECEL_RATE in the Nachi AW RCS
_servo_gun1\squeeze_speed Double Maps to G1_SQZ_SPEED in the Nachi AW RCS (mm/sec)
_servo_gun1\moving_tip_clearance Double Maps to G1_CLR_M in the Nachi AW RCS (mm)
_servo_gun1\settled_tip_clearance Double Maps to G1_CLR_S in the Nachi AW RCS (mm)
_servo_gun2\squeeze_speed Double Maps to G2_SQZ_SPEED in the Nachi AW RCS (mm/sec)
_servo_gun2\moving_tip_clearance Double Maps to G2_CLR_M in the Nachi AW RCS (mm)
_servo_gun2\settled_tip_clearance Double Maps to G2_CLR_S in the Nachi AW RCS (mm)
_g1_squeeze Integer Maps to G1_SQUEEZE in the Nachi AW RCS. Must be 0 for GUN_SQUEEZE_OFF and 1 for GUN_SQUEEZE_ON
_g2_squeeze Integer Maps to G1_SQUEEZE in the Nachi AW RCS. Must be 0 for GUN_SQUEEZE_OFF and 1 for GUN_SQUEEZE_ON After setting the above to 1, users do not need to reset it back to 0, the RRS interface will make the change.

For each robot operation/activity corresponding to a weld operation, the attribute _g1_squeeze must be set to a value of 1. This instructs the RCS module to close/squeeze the weld gun. The same applies to the _g2_squeeze attribute in a two servo gun scenario.

Please refer to the Nachi AW RCS document for the valid range of values that all of the above parameters can take.

The RRS interface/Nachi AW RCS module supports up to two servo guns per robot. The second servo gun must be setup as the eighth axis of the overall device. Both servo guns must be of the same type, i.e., both pedestal or both end-of-arm. The second servo gun is controlled through controller-specific attributes defined on Robot Motion activities the same way as the first servo gun (as outlined above) but using the attributes named:

  • _servo_gun2
  • _g2_squeeze
  • _t2_axis

(instead of _servo_gun1, _g1_squeeze, and _t1_axis, respectively).