Nachi AX RRS Profiles/Attributes

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

These can be set via either:

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

Nachi AX 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 TypeCorresponding Nachi AX RCS Parameter
_total_mechs Integer Maps to MECHANISM_NO in the Nachi AX RCS (1 to 9)
_mech_id\id1 Integer Maps to MEC1_ID in the Nachi AX RCS
_mech_id\id2 Integer Maps to MEC2_ID in the Nachi AX RCS
_mech_id\id3 Integer Maps to MEC3_ID in the Nachi AX RCS
_mech_id\id4 Integer Maps to MEC4_ID in the Nachi AX RCS
_mech_id\id5 Integer Maps to MEC5_ID in the Nachi AX RCS
_mech_id\id6 Integer Maps to MEC6_ID in the Nachi AX RCS
_mech_id\id7 Integer Maps to MEC7_ID in the Nachi AX RCS
_mech_id\id8 Integer Maps to MEC8_ID in the Nachi AX RCS
_mech_id\id9 Integer Maps to MEC9_ID in the Nachi AX RCS
_mech_relation\parent1 Integer Maps to MEC1_PARENT in the Nachi AX RCS (0 to 20)
_mech_relation\parent2 Integer Maps to MEC2_PARENT in the Nachi AX RCS (0 to 20)
_mech_relation\parent3 Integer Maps to MEC3_PARENT in the Nachi AX RCS (0 to 20)
_mech_relation\parent4 Integer Maps to MEC4_PARENT in the Nachi AX RCS (0 to 20)
_mech_relation\parent5 Integer Maps to MEC5_PARENT in the Nachi AX RCS (0 to 20)
_mech_relation\parent6 Integer Maps to MEC6_PARENT in the Nachi AX RCS (0 to 20)
_mech_relation\parent7 Integer Maps to MEC7_PARENT in the Nachi AX RCS (0 to 20)
_mech_relation\parent8 Integer Maps to MEC8_PARENT in the Nachi AX RCS (0 to 20)
_mech_relation\parent9 Integer Maps to MEC9_PARENT in the Nachi AX RCS (0 to 20)
_mec1_install_pose\inst_ px Double Maps to MEC1_INST_PX in the Nachi AX RCS (mm)
_mec1_install_pose\inst_ py Double Maps to MEC1_INST_PY in the Nachi AX RCS (mm)
_mec1_install_pose\inst_ pz Double Maps to MEC1_INST_PZ in the Nachi AX RCS (mm)
_mec1_install_pose\inst_ ax Double Maps to MEC1_INST_AX in the Nachi AX RCS (deg; -180 to 180)
_mec1_install_pose\inst_ ay Double Maps to MEC1_INST_AY in the Nachi AX RCS (deg; -180 to 180)
_mec1_install_pose\inst_ az Double Maps to MEC1_INST_AZ in the Nachi AX RCS (deg; -180 to 180)
... ...
_mec9_install_pose\inst_ px Double Maps to MEC9_INST_PX in the Nachi AX RCS (mm)
_mec9_install_pose\inst_ py Double Maps to MEC9_INST_PY in the Nachi AX RCS (mm)
_mec9_install_pose\inst_ pz Double Maps to MEC9_INST_PZ in the Nachi AX RCS (mm)
_mec9_install_pose\inst_ ax Double Maps to MEC9_INST_AX in the Nachi AX RCS (deg; -180 to 180)
_mec9_install_pose\inst_ ay Double Maps to MEC9_INST_AY in the Nachi AX RCS (deg; -180 to 180)
_mec9_install_pose\inst_ az Double Maps to MEC9_INST_AZ in the Nachi AX RCS (deg; -180 to 180)
_total_num_axes\mec1 Integer Maps to MEC1_TOTAL_AXES in the Nachi AX RCS (1 to 6)
_total_num_axes\mec2 Integer Maps to MEC2_TOTAL_AXES in the Nachi AX RCS (1 to 6)
_total_num_axes\mec3 Integer Maps to MEC3_TOTAL_AXES in the Nachi AX RCS (1 to 6)
_total_num_axes\mec4 Integer Maps to MEC4_TOTAL_AXES in the Nachi AX RCS (1 to 6)
_total_num_axes\mec5 Integer Maps to MEC5_TOTAL_AXES in the Nachi AX RCS (1 to 6)
_total_num_axes\mec6 Integer Maps to MEC6_TOTAL_AXES in the Nachi AX RCS (1 to 6)
_total_num_axes\mec7 Integer Maps to MEC7_TOTAL_AXES in the Nachi AX RCS (1 to 6)
_total_num_axes\mec8 Integer Maps to MEC8_TOTAL_AXES in the Nachi AX RCS (1 to 6)
_total_num_axes\mec9 Integer Maps to MEC9_TOTAL_AXES in the Nachi AX RCS (1 to 6)
_mec1_joint_type\jnt1_type Integer Maps to MEC1_PATTERN_J1 in the Nachi AX RCS
_mec1_joint_type\jnt2_type Integer Maps to MEC1_PATTERN_J2 in the Nachi AX RCS
_mec1_joint_type\jnt3_type Integer Maps to MEC1_PATTERN_J3 in the Nachi AX RCS
_mec1_joint_type\jnt4_type Integer Maps to MEC1_PATTERN_J4 in the Nachi AX RCS
_mec1_joint_type\jnt5_type Integer Maps to MEC1_PATTERN_J5 in the Nachi AX RCS
_mec1_joint_type\jnt6_type Integer Maps to MEC1_PATTERN_J6 in the Nachi AX RCS
. . . . . .
_mec9_joint_type\jnt1_type Integer Maps to MEC9_PATTERN_J1 in the Nachi AX RCS
_mec9_joint_type\jnt2_type Integer Maps to MEC9_PATTERN_J2 in the Nachi AX RCS
_mec9_joint_type\jnt3_type Integer Maps to MEC9_PATTERN_J3 in the Nachi AX RCS
_mec9_joint_type\jnt4_type Integer Maps to MEC9_PATTERN_J4 in the Nachi AX RCS
_mec9_joint_type\jnt5_type Integer Maps to MEC9_PATTERN_J5 in the Nachi AX RCS
_mec9_joint_type\jnt6_type Integer Maps to MEC9_PATTERN_J6 in the Nachi AX RCS
_mec1_jnt_offset\jnt1_offset Integer Maps to MEC1_OFFSET_J1 in the Nachi AX RCS
_mec1_jnt_offset\jnt2_offset Integer Maps to MEC1_OFFSET_J2 in the Nachi AX RCS
_mec1_jnt_offset\jnt3_offset Integer Maps to MEC1_OFFSET_J3 in the Nachi AX RCS
_mec1_jnt_offset\jnt4_offset Integer Maps to MEC1_OFFSET_J4 in the Nachi AX RCS
_mec1_jnt_offset\jnt5_offset Integer Maps to MEC1_OFFSET_J5 in the Nachi AX RCS
_mec1_jnt_offset\jnt6_offset Integer Maps to MEC1_OFFSET_J6 in the Nachi AX RCS
_mec9_jnt_offset\jnt1_offset Integer Maps to MEC9_OFFSET_J1 in the Nachi AX RCS
_mec9_jnt_offset\jnt2_offset Integer Maps to MEC9_OFFSET_J2 in the Nachi AX RCS
_mec9_jnt_offset\jnt3_offset Integer Maps to MEC9_OFFSET_J3 in the Nachi AX RCS
_mec9_jnt_offset\jnt4_offset Integer Maps to MEC9_OFFSET_J4 in the Nachi AX RCS
_mec9_jnt_offset\jnt5_offset Integer Maps to MEC9_OFFSET_J5 in the Nachi AX RCS
_mec9_jnt_offset\jnt6_offset Integer Maps to MEC9_OFFSET_J6 in the Nachi AX RCS
_mec1_zero_pos\jnt1_zero_pos Double Maps to MEC1_STDANG_J1 in the Nachi AX RCS (rad or mm; -PI to PI)
_mec1_zero_pos\jnt2_zero_pos Double Maps to MEC1_STDANG_J2 in the Nachi AX RCS (rad or mm; -PI to PI)
_mec1_zero_pos\jnt3_zero_pos Double Maps to MEC1_STDANG_J3 in the Nachi AX RCS (rad or mm; -PI to PI)
_mec1_zero_pos\jnt4_zero_pos Double Maps to MEC1_STDANG_J4 in the Nachi AX RCS (rad or mm; -PI to PI)
_mec1_zero_pos\jnt5_zero_pos Double Maps to MEC1_STDANG_J5 in the Nachi AX RCS (rad or mm; -PI to PI)
_mec1_zero_pos\jnt6_zero_pos Double Maps to MEC1_STDANG_J6 in the Nachi AX RCS (rad or mm; -PI to PI)
. . . . . .
_mec9_zero_pos\jnt1_zero_pos Double Maps to MEC9_STDANG_J1 in the Nachi AX RCS (rad or mm; -PI to PI)
_mec9_zero_pos\jnt2_zero_pos Double Maps to MEC9_STDANG_J2 in the Nachi AX RCS (rad or mm; -PI to PI)
_mec9_zero_pos\jnt3_zero_pos Double Maps to MEC9_STDANG_J3 in the Nachi AX RCS (rad or mm; -PI to PI)
_mec9_zero_pos\jnt4_zero_pos Double Maps to MEC9_STDANG_J4 in the Nachi AX RCS (rad or mm; -PI to PI)
_mec9_zero_pos\jnt5_zero_pos Double Maps to MEC9_STDANG_J5 in the Nachi AX RCS (rad or mm; -PI to PI)
_mec9_zero_pos\jnt6_zero_pos Double Maps to MEC9_STDANG_J6 in the Nachi AX RCS (rad or mm; -PI to PI)
_mec1_factors\jnt1_factor Double Maps to MEC1_PLS_CONST_J1 in the Nachi AX RCS
_mec1_factors\jnt2_factor Double Maps to MEC1_PLS_CONST_J2 in the Nachi AX RCS
_mec1_factors\jnt3_factor Double Maps to MEC1_PLS_CONST_J3 in the Nachi AX RCS
_mec1_factors\jnt4_factor Double Maps to MEC1_PLS_CONST_J4 in the Nachi AX RCS
_mec1_factors\jnt5_factor Double Maps to MEC1_PLS_CONST_J5 in the Nachi AX RCS
_mec1_factors\jnt6_factor Double Maps to MEC1_PLS_CONST_J6 in the Nachi AX RCS
. . . . . .
_mec9_factors\jnt1_factor Double Maps to MEC9_PLS_CONST_J1 in the Nachi AX RCS
_mec9_factors\jnt2_factor Double Maps to MEC9_PLS_CONST_J2 in the Nachi AX RCS
_mec9_factors\jnt3_factor Double Maps to MEC9_PLS_CONST_J3 in the Nachi AX RCS
_mec9_factors\jnt4_factor Double Maps to MEC9_PLS_CONST_J4 in the Nachi AX RCS
_mec9_factors\jnt5_factor Double Maps to MEC9_PLS_CONST_J5 in the Nachi AX RCS
_mec9_factors\jnt6_factor Double Maps to MEC9_PLS_CONST_J6 in the Nachi AX RCS
_mec1_max_speed\jnt1_max_speed Double Maps to MEC1_MAX_SPEED_J1 in the Nachi AX RCS (rad/sec or mm/sec; 0 to 5000
_mec1_max_speed\jnt2_max_speed Double Maps to MEC1_MAX_SPEED_J2 in the Nachi AX RCS (rad/sec or mm/sec; 0 to 5000
_mec1_max_speed\jnt3_max_speed Double Maps to MEC1_MAX_SPEED_J3 in the Nachi AX RCS (rad/sec or mm/sec; 0 to 5000
_mec1_max_speed\jnt4_max_speed Double Maps to MEC1_MAX_SPEED_J4 in the Nachi AX RCS (rad/sec or mm/sec; 0 to 5000
_mec1_max_speed\jnt5_max_speed Double Maps to MEC1_MAX_SPEED_J5 in the Nachi AX RCS (rad/sec or mm/sec; 0 to 5000
_mec1_max_speed\jnt6_max_speed Double Maps to MEC1_MAX_SPEED_J6 in the Nachi AX RCS (rad/sec or mm/sec; 0 to 5000
. . . . . .
_mec9_max_speed\jnt1_max_speed Double Maps to MEC9_MAX_SPEED_J1 in the Nachi AX RCS (rad/sec or mm/sec; 0 to 5000)
_mec9_max_speed\jnt2_max_speed Double Maps to MEC9_MAX_SPEED_J2 in the Nachi AX RCS (rad/sec or mm/sec; 0 to 5000
_mec9_max_speed\jnt3_max_speed Double Maps to MEC9_MAX_SPEED_J3 in the Nachi AX RCS (rad/sec or mm/sec; 0 to 5000)
_mec9_max_speed\jnt4_max_speed Double Maps to MEC9_MAX_SPEED_J4 in the Nachi AX RCS (rad/sec or mm/sec; 0 to 5000)
_mec9_max_speed\jnt5_max_speed Double Maps to MEC9_MAX_SPEED_J5 in the Nachi AX RCS (rad/sec or mm/sec; 0 to 5000)
_mec9_max_speed\jnt6_max_speed Double Maps to MEC9_MAX_SPEED_J6 in the Nachi AX RCS (rad/sec or mm/sec; 0 to 5000)
_mec1_accel_time\jnt1_accel_time Double Maps to MEC1_ACCEL_J1 in the Nachi AX RCS (sec; 0 to 10)
_mec1_accel_time\jnt2_accel_time Double Maps to MEC1_ACCEL_J2 in the Nachi AX RCS (sec; 0 to 10)
_mec1_accel_time\jnt3_accel_time Double Maps to MEC1_ACCEL_J3 in the Nachi AX RCS (sec; 0 to 10)
_mec1_accel_time\jnt4_accel_time Double Maps to MEC1_ACCEL_J4 in the Nachi AX RCS (sec; 0 to 10)
_mec1_accel_time\jnt5_accel_time Double Maps to MEC1_ACCEL_J5 in the Nachi AX RCS (sec; 0 to 10)
_mec1_accel_time\jnt6_accel_time Double Maps to MEC1_ACCEL_J6 in the Nachi AX RCS (sec; 0 to 10)
. . . . . .
_mec9_accel_time\jnt1_accel_time Double Maps to MEC9_ACCEL_J1 in the Nachi AX RCS (sec; 0 to 10)
_mec9_accel_time\jnt2_accel_time Double Maps to MEC9_ACCEL_J2 in the Nachi AX RCS (sec; 0 to 10)
_mec9_accel_time\jnt3_accel_time Double Maps to MEC9_ACCEL_J3 in the Nachi AX RCS (sec; 0 to 10)
_mec9_accel_time\jnt4_accel_time Double Maps to MEC9_ACCEL_J4 in the Nachi AX RCS (sec; 0 to 10)
_mec9_accel_time\jnt5_accel_time Double Maps to MEC9_ACCEL_J5 in the Nachi AX RCS (sec; 0 to 10)
_mec9_accel_time\jnt6_accel_time Double Maps to MEC9_ACCEL_J6 in the Nachi AX RCS (sec; 0 to 10)
_mec1_decel_time\jnt1_decel_tim Double Maps to MEC1_DECEL_J1 in the Nachi AX RCS (sec; 0 to 10)
_mec1_decel_time\jnt2_decel_tim Double Maps to MEC1_DECEL_J2 in the Nachi AX RCS (sec; 0 to 10)
_mec1_decel_time\jnt3_decel_tim Double Maps to MEC1_DECEL_J3 in the Nachi AX RCS (sec; 0 to 10)
_mec1_decel_time\jnt4_decel_tim Double Maps to MEC1_DECEL_J4 in the Nachi AX RCS (sec; 0 to 10)
_mec1_decel_time\jnt5_decel_tim Double Maps to MEC1_DECEL_J5 in the Nachi AX RCS (sec; 0 to 10)
_mec1_decel_time\jnt6_decel_tim Double Maps to MEC1_DECEL_J6 in the Nachi AX RCS (sec; 0 to 10)
. . . . . .
_mec9_decel_time\jnt1_decel_time Double Maps to MEC9_DECEL_J1 in the Nachi AX RCS (sec; 0 to 10)
_mec9_decel_time\jnt2_decel_time Double Maps to MEC9_DECEL_J2 in the Nachi AX RCS (sec; 0 to 10)
_mec9_decel_time\jnt3_decel_time Double Maps to MEC9_DECEL_J3 in the Nachi AX RCS (sec; 0 to 10)
_mec9_decel_time\jnt4_decel_time Double Maps to MEC9_DECEL_J4 in the Nachi AX RCS (sec; 0 to 10)
_mec9_decel_time\jnt5_decel_time Double Maps to MEC9_DECEL_J5 in the Nachi AX RCS (sec; 0 to 10)
_mec9_decel_time\jnt6_decel_time Double Maps to MEC9_DECEL_J6 in the Nachi AX RCS (sec; 0 to 10)
_mec1_travel_limits\jnt1_lower_limit Double Maps to MEC1_RANGE_L_J1 in the Nachi AX RCS (deg or mm)
_mec1_travel_limits\jnt1_higher_limit Double Maps to MEC1_RANGE_H_J1 in the Nachi AX RCS (deg or mm)
_mec1_travel_limits\jnt2_lower_limit Double Maps to MEC1_RANGE_L_J2 in the Nachi AX RCS (deg or mm)
_mec1_travel_limits\jnt2_higher_limit Double Maps to MEC1_RANGE_H_J2 in the Nachi AX RCS (deg or mm)
_mec1_travel_limits\jnt3_lower_limit Double Maps to MEC1_RANGE_L_J3 in the Nachi AX RCS (deg or mm)
_mec1_travel_limits\jnt3_higher_limit Double Maps to MEC1_RANGE_H_J3 in the Nachi AX RCS (deg or mm)
_mec1_travel_limits\jnt4_lower_limit Double Maps to MEC1_RANGE_L_J4 in the Nachi AX RCS (deg or mm)
_mec1_travel_limits\jnt4_higher_limit Double Maps to MEC1_RANGE_H_J4 in the Nachi AX RCS (deg or mm)
_mec1_travel_limits\jnt5_lower_limit Double Maps to MEC1_RANGE_L_J5 in the Nachi AX RCS (deg or mm)
_mec1_travel_limits\jnt5_higher_limit Double Maps to MEC1_RANGE_H_J5 in the Nachi AX RCS (deg or mm)
_mec1_travel_limits\jnt6_lower_limit Double Maps to MEC1_RANGE_L_J6 in the Nachi AX RCS (deg or mm)
_mec1_travel_limits\jnt6_higher_limit Double Maps to MEC1_RANGE_H_J6 in the Nachi AX RCS (deg or mm)
. . . . . .
_mec9_travel_limits\jnt1_lower_limit Double Maps to MEC9_RANGE_L_J1 in the Nachi AX RCS (deg or mm)
_mec9_travel_limits\jnt1_higher_limit Double Maps to MEC9_RANGE_H_J1 in the Nachi AX RCS (deg or mm)
_mec9_travel_limits\jnt2_lower_limit Double Maps to MEC9_RANGE_L_J2 in the Nachi AX RCS (deg or mm)
_mec9_travel_limits\jnt2_higher_limit Double Maps to MEC9_RANGE_H_J2 in the Nachi AX RCS (deg or mm)
_mec9_travel_limits\jnt3_lower_limit Double Maps to MEC9_RANGE_L_J3 in the Nachi AX RCS (deg or mm)
_mec9_travel_limits\jnt3_higher_limit Double Maps to MEC9_RANGE_H_J3 in the Nachi AX RCS (deg or mm)
_mec9_travel_limits\jnt4_lower_limit Double Maps to MEC9_RANGE_L_J4 in the Nachi AX RCS (deg or mm)
_mec9_travel_limits\jnt4_higher_limit Double Maps to MEC9_RANGE_H_J4 in the Nachi AX RCS (deg or mm)
_mec9_travel_limits\jnt5_lower_limit Double Maps to MEC9_RANGE_L_J5 in the Nachi AX RCS (deg or mm)
_mec9_travel_limits\jnt5_higher_limit Double Maps to MEC9_RANGE_H_J5 in the Nachi AX RCS (deg or mm)
_mec9_travel_limits\jnt6_lower_limit Double Maps to MEC9_RANGE_L_J6 in the Nachi AX RCS (deg or mm)
_mec9_travel_limits\jnt6_higher_limit Double Maps to MEC9_RANGE_H_J6 in the Nachi AX RCS (deg or mm)
_mec1_DH_arm_len\jnt1_dh_arm_len Double Maps to MEC1_DH_LEN_J1 in the Nachi AX RCS (mm)
_mec1_DH_arm_len\jnt2_dh_arm_len Double Maps to MEC1_DH_LEN_J2 in the Nachi AX RCS (mm)
_mec1_DH_arm_len\jnt3_dh_arm_len Double Maps to MEC1_DH_LEN_J3 in the Nachi AX RCS (mm)
_mec1_DH_arm_len\jnt4_dh_arm_len Double Maps to MEC1_DH_LEN_J4 in the Nachi AX RCS (mm)
_mec1_DH_arm_len\jnt5_dh_arm_len Double Maps to MEC1_DH_LEN_J5 in the Nachi AX RCS (mm)
_mec1_DH_arm_len\jnt6_dh_arm_len Double Maps to MEC1_DH_LEN_J6 in the Nachi AX RCS (mm)
. . . . . .
_mec9_DH_arm_len\jnt1_dh_arm_len Double Maps to MEC9_DH_LEN_J1 in the Nachi AX RCS (mm)
_mec9_DH_arm_len\jnt2_dh_arm_len Double Maps to MEC9_DH_LEN_J2 in the Nachi AX RCS (mm)
_mec9_DH_arm_len\jnt3_dh_arm_len Double Maps to MEC9_DH_LEN_J3 in the Nachi AX RCS (mm)
_mec9_DH_arm_len\jnt4_dh_arm_len Double Maps to MEC9_DH_LEN_J4 in the Nachi AX RCS (mm)
_mec9_DH_arm_len\jnt5_dh_arm_len Double Maps to MEC9_DH_LEN_J5 in the Nachi AX RCS (mm)
_mec9_DH_arm_len\jnt6_dh_arm_len Double Maps to MEC9_DH_LEN_J6 in the Nachi AX RCS (mm)
_mec1_DH_arm_offset\jnt1_dh_arm_offset Double Maps to MEC1_DH_OFFSET_J1 in the Nachi AX RCS (mm)
_mec1_DH_arm_offset\jnt2_dh_arm_offset Double Maps to MEC1_DH_OFFSET_J2 in the Nachi AX RCS (mm)
_mec1_DH_arm_offset\jnt3_dh_arm_offset Double Maps to MEC1_DH_OFFSET_J3 in the Nachi AX RCS (mm)
_mec1_DH_arm_offset\jnt4_dh_arm_offset Double Maps to MEC1_DH_OFFSET_J4 in the Nachi AX RCS (mm)
_mec1_DH_arm_offset\jnt5_dh_arm_offset Double Maps to MEC1_DH_OFFSET_J5 in the Nachi AX RCS (mm)
_mec1_DH_arm_offset\jnt6_dh_arm_offset Double Maps to MEC1_DH_OFFSET_J6 in the Nachi AX RCS (mm)
. . . . . .
_mec9_DH_arm_offset\jnt1_dh_arm_offset Double Maps to MEC9_DH_OFFSET_J1 in the Nachi AX RCS (mm)
_mec9_DH_arm_offset\jnt2_dh_arm_offset Double Maps to MEC9_DH_OFFSET_J2 in the Nachi AX RCS (mm)
_mec9_DH_arm_offset\jnt3_dh_arm_offset Double Maps to MEC9_DH_OFFSET_J3 in the Nachi AX RCS (mm)
_mec9_DH_arm_offset\jnt4_dh_arm_offset Double Maps to MEC9_DH_OFFSET_J4 in the Nachi AX RCS (mm)
_mec9_DH_arm_offset\jnt5_dh_arm_offset Double Maps to MEC9_DH_OFFSET_J5 in the Nachi AX RCS (mm)
_mec9_DH_arm_offset\jnt6_dh_arm_offset Double Maps to MEC9_DH_OFFSET_J6 in the Nachi AX RCS (mm)
_mec1_DH_offset_ang\jnt1_dh_offset_ang Double Maps to MEC1_DH_ANG_J1 in the Nachi AX RCS
_mec1_DH_offset_ang\jnt2_dh_offset_ang Double Maps to MEC1_DH_ANG_J2 in the Nachi AX RCS
_mec1_DH_offset_ang\jnt3_dh_offset_ang Double Maps to MEC1_DH_ANG_J3 in the Nachi AX RCS
_mec1_DH_offset_ang\jnt4_dh_offset_ang Double Maps to MEC1_DH_ANG_J4 in the Nachi AX RCS
_mec1_DH_offset_ang\jnt5_dh_offset_ang Double Maps to MEC1_DH_ANG_J5 in the Nachi AX RCS
_mec1_DH_offset_ang\jnt6_dh_offset_ang Double Maps to MEC1_DH_ANG_J6 in the Nachi AX RCS
. . . . . .
_mec9_DH_offset_ang\jnt1_dh_offset_ang Double Maps to MEC9_DH_ANG_J1 in the Nachi AX RCS
_mec9_DH_offset_ang\jnt2_dh_offset_ang Double Maps to MEC9_DH_ANG_J2 in the Nachi AX RCS
_mec9_DH_offset_ang\jnt3_dh_offset_ang Double Maps to MEC9_DH_ANG_J3 in the Nachi AX RCS
_mec9_DH_offset_ang\jnt4_dh_offset_ang Double Maps to MEC9_DH_ANG_J4 in the Nachi AX RCS
_mec9_DH_offset_ang\jnt5_dh_offset_ang Double Maps to MEC9_DH_ANG_J5 in the Nachi AX RCS
_mec9_DH_offset_ang\jnt6_dh_offset_ang Double Maps to MEC9_DH_ANG_J6 in the Nachi AX RCS
_mec1_coupling\coupling_j1_j1 Double Maps to MEC1_FACTOR_J1_J1 in the Nachi AX RCS
_mec1_coupling\coupling_j1_j2 Double Maps to MEC1_FACTOR_J1_J2 in the Nachi AX RCS
_mec1_coupling\coupling_j1_j3 Double Maps to MEC1_FACTOR_J1_J3 in the Nachi AX RCS
_mec1_coupling\coupling_j1_j4 Double Maps to MEC1_FACTOR_J1_J4 in the Nachi AX RCS
_mec1_coupling\coupling_j1_j5 Double Maps to MEC1_FACTOR_J1_J5 in the Nachi AX RCS
_mec1_coupling\coupling_j1_j6 Double Maps to MEC1_FACTOR_J1_J6 in the Nachi AX RCS
_mec1_coupling\coupling_j2_j1 Double Maps to MEC1_FACTOR_J2_J1 in the Nachi AX RCS
_mec1_coupling\coupling_j2_j2 Double Maps to MEC1_FACTOR_J2_J2 in the Nachi AX RCS
. . . . . .
_mec1_coupling\coupling_j6_j4 Double Maps to MEC1_FACTOR_J6_J4 in the Nachi AX RCS
_mec1_coupling\coupling_j6_j5 Double Maps to MEC1_FACTOR_J6_J5 in the Nachi AX RCS
_mec1_coupling\coupling_j6_j6 Double Maps to MEC1_FACTOR_J6_J6 in the Nachi AX RCS
. . . . . .
_mec9_coupling\coupling_j1_j1 Double Maps to MEC9_FACTOR_J1_J1 in the Nachi AX RCS
_mec9_coupling\coupling_j1_j2 Double Maps to MEC9_FACTOR_J1_J2 in the Nachi AX RCS
. . . . . .
_mec9_coupling\coupling_j6_j5 Double Maps to MEC9_FACTOR_J6_J5 in the Nachi AX RCS
_mec9_coupling\coupling_j6_j6 Double Maps to MEC9_FACTOR_J6_J6 in the Nachi AX RCS
_tool1\tcp_x Double Maps to TCP1_X in the Nachi AX RCS (mm; -2000 to 2000)
_tool1\tcp_y Double Maps to TCP1_Y in the Nachi AX RCS (mm; -2000 to 2000)
_tool1\tcp_z Double Maps to TCP1_Z in the Nachi AX RCS (mm; -2000 to 2000)
_tool1\tcp_rx Double Maps to TCP1_RX in the Nachi AX RCS (deg; -180 to 180)
_tool1\tcp_ry Double Maps to TCP1_RY in the Nachi AX RCS (deg; -180 to 180)
_tool1\tcp_rz Double Maps to TCP1_RZ in the Nachi AX RCS (deg; -180 to 180)
_tool1\tcg_x Double Maps to TCG1_X in the Nachi AX RCS (mm; -2000 to 2000)
_tool1\tcg_y Double Maps to TCG1_Y in the Nachi AX RCS (mm; -2000 to 2000)
_tool1\tcg_z Double Maps to TCG1_Z in the Nachi AX RCS (mm; -2000 to 2000)
_tool1\load Double Maps to LOAD1 in the Nachi AX RCS (Kgf; 0 to 500)
_tool1\tina_x Double Maps to TINA1_X in the Nachi AX RCS (0 to 2000)
_tool1\tina_y Double Maps to TINA1_Y in the Nachi AX RCS (0 to 2000)
_tool1\tina_z Double Maps to TINA1_Z in the Nachi AX RCS (0 to 2000)
_tool1\tmr Double Maps to TMR1 in the Nachi AX RCS (0 to 2000)
. . . . . .
_tool32\tcp_x Double Maps to TCP32_X in the Nachi AX RCS (mm; -2000 to 2000)
_tool32\tcp_y Double Maps to TCP32_Y in the Nachi AX RCS (mm; -2000 to 2000)
_tool32\tcp_z Double Maps to TCP32_Z in the Nachi AX RCS (mm; -2000 to 2000)
_tool32\tcp_rx Double Maps to TCP32_RX in the Nachi AX RCS (deg; -180 to 180)
_tool32\tcp_ry Double Maps to TCP32_RY in the Nachi AX RCS (deg; -180 to 180)
_tool32\tcp_rz Double Maps to TCP32_RZ in the Nachi AX RCS (deg; -180 to 180)
_tool32\tcg_x Double Maps to TCG32_X in the Nachi AX RCS (mm; -2000 to 2000)
_tool32\tcg_y Double Maps to TCG32_Y in the Nachi AX RCS (mm; -2000 to 2000)
_tool32\tcg_z Double Maps to TCG32_Z in the Nachi AX RCS (mm; -2000 to 2000)
_tool32\load Double Maps to LOAD32 in the Nachi AX RCS (Kgf; 0 to 500)
_tool32\tina_x Double Maps to TINA32_X in the Nachi AX RCS (0 to 2000)
_tool32\tina_y Double Maps to TINA32_Y in the Nachi AX RCS (0 to 2000)
_tool32\tina_z Double Maps to TINA32_Z in the Nachi AX RCS (0 to 2000)
_tool32\tmr Double Maps to TMR32 in the Nachi AX RCS (0 to 2000)
_posture\b_dead_zone Double Maps to B_DEAD_ZONE in the Nachi AX RCS (deg; 0 to 90)
_posture\arm_config Integer Maps to ARM_CONFIG in the Nachi AX RCS (0 and 1)
_accuracy_len\acc1_length Double Maps to ACC1_LENGTH in the Nachi AX RCS (mm; 0 to 1000)
_accuracy_len\acc2_length Double Maps to ACC2_LENGTH in the Nachi AX RCS (mm; 0 to 1000)
_accuracy_len\acc3_length Double Maps to ACC3_LENGTH in the Nachi AX RCS (mm; 0 to 1000)
_accuracy_len\acc4_length Double Maps to ACC4_LENGTH in the Nachi AX RCS (mm; 0 to 1000)
_accuracy_len\acc5_length Double Maps to ACC5_LENGTH in the Nachi AX RCS (mm; 0 to 1000)
_accuracy_len\acc6_length Double Maps to ACC6_LENGTH in the Nachi AX RCS (mm; 0 to 1000)
_accuracy_len\acc7_length Double Maps to ACC7_LENGTH in the Nachi AX RCS (mm; 0 to 1000)
_accuracy_len\acc8_length Double Maps to ACC8_LENGTH in the Nachi AX RCS (mm; 0 to 1000)
_accuracy_vel\acc1_velocity Double Maps to ACC1_VELOCITY in the Nachi AX RCS (0 to 100%)
_accuracy_vel\acc2_velocity Double Maps to ACC2_VELOCITY in the Nachi AX RCS (0 to 100%)
_accuracy_vel\acc3_velocity Double Maps to ACC3_VELOCITY in the Nachi AX RCS (0 to 100%)
_accuracy_vel\acc4_velocity Double Maps to ACC4_VELOCITY in the Nachi AX RCS (0 to 100%)
_accuracy_vel\acc5_velocity Double Maps to ACC5_VELOCITY in the Nachi AX RCS (0 to 100%)
_accuracy_vel\acc6_velocity Double Maps to ACC6_VELOCITY in the Nachi AX RCS (0 to 100%)
_accuracy_vel\acc7_velocity Double Maps to ACC7_VELOCITY in the Nachi AX RCS (0 to 100%)
_accuracy_vel\acc8_velocity Double Maps to ACC8_VELOCITY in the Nachi AX RCS (0 to 100%)
_accel_level\acc_level0 Double Maps to ACCELELATION_0 in the Nachi AX RCS (0 to 100)
_accel_level\acc_level1 Double Maps to ACCELELATION_1 in the Nachi AX RCS (0 to 100)
_accel_level\acc_level2 Double Maps to ACCELELATION_2 in the Nachi AX RCS (0 to 100)
_accel_level\acc_level3 Double Maps to ACCELELATION_3 in the Nachi AX RCS (0 to 100)
_ln_smooth_level\jnt_smooth0 Double Maps to SMOOTH0_LIN in the Nachi AX RCS (0 to 50)
_ln_smooth_level\jnt_smooth1 Double Maps to SMOOTH1_LIN in the Nachi AX RCS (0 to 50)
_ln_smooth_level\jnt_smooth2 Double Maps to SMOOTH2_LIN in the Nachi AX RCS (0 to 50)
_ln_smooth_level\jnt_smooth3 Double Maps to SMOOTH3_LIN in the Nachi AX RCS (0 to 50)
_jnt_smooth_level\jnt_smooth0 Double Maps to SMOOTH0_JNT in the Nachi AX RCS (0 to 50)
_jnt_smooth_level\jnt_smooth1 Double Maps to SMOOTH1_JNT in the Nachi AX RCS (0 to 50)
_jnt_smooth_level\jnt_smooth2 Double Maps to SMOOTH2_JNT in the Nachi AX RCS (0 to 50)
_jnt_smooth_level\jnt_smooth3 Double Maps to SMOOTH3_JNT in the Nachi AX RCS (0 to 50)
_adv_mot Integer Maps to ADVANCE_MOTION in the Nachi AX RCS (2 to 32)
_syncro Integer Maps to SYNCRO in the Nachi AX RCS
_no_more_target Integer Maps to NO_MORE_TARGET in the Nachi AX RCS
_ori_speed Double Maps to Orientation Speed in the Nachi AX RCS (deg/sec)
_filter_factor Integer Maps to Filter Factor in the Nachi AX RCS
  • Please refer to the Nachi AX RCS document for the valid range of values that these parameters can take.
  • The RRS interface/Nachi AX RCS module supports spot welding simulation using servo weldgun as well as air weld gun. For this, a weld gun device must first be attached to the robot device so that the weld gun device appears as an auxiliary device of the robot with the weld gun axis appearing as the seventh (7th) axis of the overall device.
  • The RRS interface/Nachi AX RCS module supports up to two (2) weld guns per robot. The second weld gun must be set up as the eighth (8th) axis of the overall device. Both servo guns must be of the same type (i.e. both pedestal or both end-of-arm).
  • Following are the controller-specific attributes associated with servogun/spot welding simulation.
Attribute Name Attribute Type Corresponding Nachi AX RCS Parameter
servo_weld_seq1\start_stroke Double Maps to SG_STRK_PRE1 in the Nachi AX RCS
servo_weld_seq1\finish_stroke Double Maps to SG_STRK_PST1 in the Nachi AX RCS
..... Double .....
_servo_weld_seq64\start_stroke Double Maps to SG_STRK_PRE64 in the Nachi AX RCS
_servo_weld_seq64\finish_stroke Double Maps to SG_STRK_PST64 in the Nachi AX RCS
_servo_gun1\mov_tip_clr Double Maps to G1_CLR_M in the Nachi AX RCS (mm; 0 to 50)
_servo_gun1\settle_tip_clr Double Maps to G1_CLR_S in the Nachi AX RCS (mm; 0 to 20)
_servo_gun1\squeeze_speed Double Maps to G1_SQZ_SPEED in the Nachi AX RCS (mm/sec; 0 to 200)
_servo_gun2\mov_tip_clr Double Maps to G2_CLR_M in the Nachi AX RCS (mm; 0 to 50)
_servo_gun2\settle_tip_clr Double Maps to G2_CLR_S in the Nachi AX RCS (mm; 0 to 20)
_servo_gun2\squeeze_speed Double Maps to G2_SQZ_SPEED in the Nachi AX RCS (mm/sec; 0 to 200)
_g1_squeeze Integer Maps to G1_SQUEEZE in the Nachi AX RCS
_g2_squeeze Integer Maps to G2_SQUEEZE in the Nachi AX RCS 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 will make the change.
_stick_chk Integer Maps to STICK_CHK in the Nachi AX RCS. Must be 0 for DISABLE and 1 for ENABLE.

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.

Following are the controller-specific attributes associated with air gun/spot welding simulation:

Attribute Name Attribute Type Corresponding Nachi AX RCS Parameter
_air_weld_seq1\start_stroke Integer Maps to AG_STRK_PRE1 in the Nachi AX RCS
_air_weld_seq1\tim_stroke Double Maps to AG_STRK_TIM1 in the Nachi AX RCS (-9.99 to 10)
_air_weld_seq1\weld_stroke Integer Maps to AG_STRK_SQU1 in the Nachi AX RCS
_air_weld_seq1\finish_stroke Integer Maps to AG_STRK_PST1 in the Nachi AX RCS
.....
_air_weld_seq64\start_stroke Integer Maps to AG_STRK_PRE64 in the Nachi AX RCS
_air_weld_seq64\tim_stroke Double Maps to AG_STRK_TIM64 in the Nachi AX RCS (-9.99 to 10)
_air_weld_seq64\weld_stroke Integer Maps to AG_STRK_SQU64 in the Nachi AX RCS
_air_weld_seq64\finish_stroke Integer Maps to AG_STRK_PST64 in the Nachi AX RCS