Customizing the RRS-II VTM Interface

The DNBRRSVRC_IF and DNBRRSVRC_IF_SIM_RPC_VTM RRS-II interfaces can be customized by setting the following V6 attribute 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 RRS-II controller-specific profile, setting this attribute 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 Value	Resulting Action
_num_targets	Integer	1	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 V5 completes when VRC calls sim_program_end.