| _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%.
|