Customizing the RRS-II RTM Interface

The DNBRRSVRC_IF_SIM_RPC_RTM RRS-II interface can be customized by setting the following V6 attributes on the first and, if desired, subsequent robot motion operations in RRS-II robot's robot task. This can be accomplished by creating instances of the RRS2MotionTargetMappingProfile and RRS2RealTimeVrcSimulationOptionsProfile RRS-II controller-specific profiles, setting these attributes in them, and associating these profile instances with robot motion operations using V6 Teach. See Setting RRS-II Controller-Specific Attributes/Profiles section for details.

Attribute Name Type Default ValueResulting Action
_simulate_bco Integer1 (on)If 1, sim_segment = {BCO move + time delay until user presses "Run" in VRC OL} is fully simulated in V6. If 0, the this sim_segment is simulated in V6 until user presses "Run" in VRC OL, at which time the V6 simulation skips the rest of this sim_segment and immediately starts processing incoming post-BCO move command execution actions sent by the VRC, i.e., the robot starts moving right away in V6 executing the post-BCO move actions. Note that, each robot performs this action independent of other RRS-II robots, so robot-to-robot time synchronization in (Kuka) RoboTeam simulations will be lost.
_simulate_motion_stopInteger1 (on)If 0, time intervals identified by time stamps associated with {sim_motion_stopped, next sim_joint_values} pairs are accumulated and subtracted from incoming VRC call time stamps (thereby efffectively removing idle times associated with VRC motion stops from V6 simulation). If 1, the above processing is not performed and all VRC robot idle time delays are played back in V6 simulations.
_auto_load_nlpInteger1 (on)If 1, vrc_unload_file/vrc_load_file pair is also called at the beginning of each simulation run. If 0, only the vrc_deactivate/vrc_activate pair is called at the beginning of each simulation run.
_display_sim_warningsInteger0 (off)If 1, displays various simulation warnings (such as when VRC stops/starts motion, etc.) in robot's RRS message window. If 0, no simulation warnings are displayed.
_display_io_warningsInteger0 (off)If 1, displays various I/O warnings (such as problems getting I/O table headers from VRC, I/O table definitions not matching V6 device I/O definitions, VRC requests to set output lines not defined in V6, etc.) in robot's RRS message window. If 0, no I/O warnings are displayed.
_num_targetsInteger1

Number of move commands in VRC NLP that maps to this V6 robot motion activity. Note that, VRC informs V6 about move command completion via the sim_target_reached call. If set to 0 (zero), this move activity in V6 is assumed to map to the complete VRC NLP, i.e., simulation of move activity in V6 completes when VRC calls sim_program_end.

If set to -1, this move activity executes forever (i.e. only killing the V6 simulation command ends it) and the V6 RRS-II RTM interface module operates affectively in RRS-II Free Play mode during the simulation (i.e. only the last data sent by the VRC module is taken into account). This mode should be used when the RRS-II robot's operation needs to be controlled via VRC/controller HMI interaction during a simulation involving other virtual entities that are controlled by V6.

Notes

If Stop Real-Time VRC When Simulation Stops in the Me > Preferences > Robotics > RRS tab is enabled, when the simulation is halted for real-time managed VRCs during a simulation, a vrc_stop call will be issued to stop VRC execution and a vrc_start call issued to re-start VRC execution when the simulation is re-started. By default, this option is disabled.

Real-time managed VRC-connected robots can be moved under VRC module UI control using RRS-II Free-Play. See Using the Real-Time Managed VRC User Interface for more information.