Mapping V6 Resource IOs to RRS-II VRC IOs

This task describes how to map RRS-II robot's Resource IOs in V6 to robot IOs defined in RRS-II robot's VRC instance. By establishing this mapping, during simulation, the program executed by the VRC can react to robot input signal changes and also can issue robot output signal changes in order to synchronize the RRS-II robot's behavior with other devices in the cell.

The V6 RRS-II module currently supports only binary IOs. It also checks for possible discrepancies between the RRS-II robot's Resource I/O model in V6 and the I/O model of it's VRC instance and issues the appropriate error/warning messages.

  1. Create a (global) Resource IO on the device controller (not on the robot resource itself) as detailed in VPM Collaborative Platform | Virtual Product Modeling | Live Simulation | Using the Immersive Browser Tabs | Sequencing | Creating IOs | Creating Global IO.
  2. Fill in the Port Number field of the created Resource IO with its native name (as represented in the actual robot controller).

    V6 RRS-II module parses this string to extract the integer embedded in it and uses this as the RRS-II IO number of that robot IO line when communicating with the VRC module.

    Important: Non-numeric characters in this field are ignored by the V6 RRS-II module. Hence, "IN15", "IN(15)", "INPUT[15]" are all valid port numbers that specify 15 as the RRS-II IO number of that robot IO line.

    The following example shows the RRS-II IO number embedded in a V6 Resource IO's Port Number field and the wait input command that is conditioned on that IO line turning ON in the robot's native program (that is executed by the VRC module).