_playback_time | Double | Maps to Playback Time in the Yaskawa RCS (sec). |
_ori_speed | Double | Maps to Orientation Speed in the Yaskawa RCS (deg/sec). 0 means do not send this attribute to the RCS module. |
_ori_speed_for_move | Double | Non-modal version of ori_speed (i.e., the current value does not carry over to the next move). |
_acc | Integer | Non-modal attribute that maps to ACC option on a Motoman move instruction (0-100%). -1 means do not send this attribute to the RCS module. |
_dec | Integer | Non-modal attribute that maps to DEC option on a Motoman move instruction (0-100%). -1 means do not send this attribute to the RCS module. |
_timer | Double | Non-modal attribute that maps to Motoman TIMER instruction (sec). -1 means do not send this attribute to the RCS module. The timer delay will be executed at the end of the move on which this attribute is set. |
_e_angle | Double | Elbow angle value for an IA20 robot move activity (deg). -9999 means do not send this attribute to the RCS module. |
_svspot | Integer | Set to: - 1
SVSPOT move - 0
standard move
|
_thickness | Double | Part thickness in mm. |
_press_num | Integer | "PRESS#" value in SVSPOT command. |
_weld_time | Double | Delay in seconds added at the end of the gun pressure move during RCS-based SVSPOT emulation. |
_relative_job_method | Integer | Set to: |
MotomanDistanceBasedAccuracy | String | Alters the default accuracy value-to-PL mapping. This attribute can be set to one of the following: - "False"
Use default accuracy value-to-PL mapping shown above - "True"
Assume distance-based accuracy type and the following accuracy value-to-PL mapping: - PL=0 to 4 case:
- ACCURACY_VALUE < 25 mm
AccuracyType = 0 - 25 mm <= ACCURACY_VALUE < 50 mm
AccuracyType = 1 - 50 mm <= ACCURACY_VALUE < 100 mm
AccuracyType = 2 - 100 mm <= ACCURACY_VALUE < 150 mm
AccuracyType = 3 - 150 mm <= ACCURACY_VALUE
AccuracyType = 4
- PL=0 to 8 case:
- ACCURACY_VALUE < 25 mm
AccuracyType = 0 - 25 mm <= ACCURACY_VALUE < 50 mm
AccuracyType = 1 - 50 mm <= ACCURACY_VALUE < 100 mm
AccuracyType = 2 - 100 mm <= ACCURACY_VALUE < 150 mm
AccuracyType = 3 - 150 mm <= ACCURACY_VALUE < 200 mm
AccuracyType = 4 - 200 mm <= ACCURACY_VALUE < 300 mm
AccuracyType = 5 - 300 mm <= ACCURACY_VALUE < 400 mm
AccuracyType = 6 - 400 mm <= ACCURACY_VALUE < 500 mm
AccuracyType = 7 - 500 mm <= ACCURACY_VALUE
AccuracyType = 8
- "a1,a2,a3,a4" (PL=0-4 case) or "a1,a2,a3,a4,a5,a6,a7,a8 (PL=0-8 case)"
Assume distance-based accuracy type and the following accuracy value-to-PL mapping: - PL=0 to 4 case:
- ACCURACY_VALUE < a1 mm
AccuracyType = 0 - a1 mm <= ACCURACY_VALUE < a2 mm
AccuracyType = 1 - a2 mm <= ACCURACY_VALUE < a3 mm
AccuracyType = 2 - a3 mm <= ACCURACY_VALUE < a4 mm
AccuracyType = 3 - a4 mm <= ACCURACY_VALUE
AccuracyType = 4
- PL=0 to 8 case:
- ACCURACY_VALUE < a1 mm
AccuracyType = 0 - a1 mm <= ACCURACY_VALUE < a2 mm
AccuracyType = 1 - a2 mm <= ACCURACY_VALUE < a3 mm
AccuracyType = 2 - a3 mm <= ACCURACY_VALUE < a4 mm
AccuracyType = 3 - a4 mm <= ACCURACY_VALUE < a5 mm
AccuracyType = 4 - a5 mm <= ACCURACY_VALUE < a6 mm
AccuracyType = 5 - a6 mm <= ACCURACY_VALUE < a7 mm
AccuracyType = 6 - a7 mm <= ACCURACY_VALUE < a8 mm
AccuracyType = 7 - a8 mm <= ACCURACY_VALUE
AccuracyType = 8
|
MotomanDefaultAccuracy | Real | Alters the default speed-based accuracy value
corresponding to "No PL" for linear and circular moves;
0-100%.
|
MotomanDefaultJointAccuracy | Real | Alters the default speed-based accuracy value
corresponding to "No PL" for joint moves; 0-100%.
|