Staubli RRS Profiles/Attributes

This section describes the attributes (contained in Staubli RRS controller-specific applicative profiles) that are supported by the Staubli RRS interface.

See Also
Staubli RRS Servers
Staubli RRS Interface

Staubli Attributes for Robot Motion

This RRS interface supports the following Controller-Specific 3DEXPERIENCE Attributes.

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 STAUBLI Parameter
_spd_accel\joint_spd Double 0-100%. Maps to mDesc.vel
_spd_accel\pos_spd Double mm/s. Maps to mDesc.tvel
_spd_accel\ori_spd Double Deg/s. Maps to mDesc.rvel
_spd_accel\acc Double 0-100%. Maps to mDesc.accel
_spd_accel\dec Double 0-100%. Maps to mDesc.decel
_blend\blend_type Integer 0=Off, 1=Joint, 2=Cartesian. Maps to mDesc.blend
_blend\leave_dist Double mm. Maps to mDesc.leave
_blend\reach_dist Double mm. Maps to mDesc.reach

The Staubli RRS attributes above are pre-defined in Staubli RRS Applicative Profiles. See Setting RRS Controller-Specific Attributes/Profiles for creating instances of these profiles and setting them on robot operations.