Robot Virtual Commissioning: RRS Simulation

RRS Connection Properties

RRS$LIB Directory: This directory is where the system looks when loading RRS interface shared libraries. You can use the Browse button to open a window to navigate to the directory you want to use.
By default, the initial setting is blank.
RRS Servers File: This field provides the full path name of the RRS servers file.
By default, the value is ~startup/rrs/rrs.servers

RRS Message Window Properties

Filter Mode

This option allows you to control what messages are displayed in the RRS message window based on message severity. Available options are:

Hide
Show errors only
Show errors and warnings only
Show all

By default, the initial setting is Show all.

Auto-Hide Speed

Controls the speed at which the system automatically hides the RRS message window during simulation.

When defined as 0%, no automatic hiding takes place.
When defined as 100%, a new message appears for the shortest period of time.

By default, the initial setting is 50%.

RRS-II Properties

Activate RRS-II Motion Planner During Teach/OLP: If checked, this feature invokes the RRS-II motion planner in robot simulation originated by commands other than standard simulation commands (such as Robot Task Simulation, Process/Resource Simulation, or Multi-Resource Simulation). Otherwise, the default motion planner gets invoked. Note that, when a command such as Teach invokes the RRS-II motion planner and there are no native language programs created for the VRC module to run, the RRS-II motion planner cannot move the robot. Therefore, the RRS-II motion planner should be disabled in such cases.
By default, the check box is clear.
Use VRC Module Inverse Kinematics: If checked and the VRC module supports it, all robot inverse kinematics requests (by commands such as Jog) are routed to the inverse kinematics solver of the VRC module. Refer to Enabling VRC-based Inverse Kinematics in this guide for more details.
By default, the check box is selected.
Fetch Turn Limits From VRC Module: If checked and the VRC module supports it, turn limits for axis 1, 4, 5, 6 displayed and enforced in the Jog/Teach dialog are fetched from the VRC module.
By default, the check box is selected.
Stop Real-Time VRC When Simulation Stops: If checked and the robot is RRS-II connected to an RTM (real-time managed) VRC module, when the V6 simulation is halted by the user, the V5 RRS-II module instructs the VRC module to also pause its execution, and then to resume it when V6 simulation is resumed.
By default, the check box is not selected.
RRS-II Free Play Simulation Step Size: Set the Simulation Step Size as desired.
By default, the step size is set to 0.1 seconds.