_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. |