RRS-II Workcell Creation and Simulation Workflow

This task describes how to create a new workcell and simulation within the context of RRS-II.

Before you begin: RRS-II and a VRC module must be properly setup prior to creating a workcell and simulation, as described in RRS-II Client Setup.
  1. Use V6 Device Task Design to create a robot task for the RRS-II robot. Refer to the Device Task Design User Guide for further details.
    Note: If the robot task does not match the robot NLP (e.g. different number of moves, etc.), you should
    1. Create a new robot task that contains just a single (arbitrary) robot motion operation.
    2. Associate the full designated VRC Program with this robot motion operation by creating a new RRS2MotionTargetMappingProfile instance in which the _num_targets attribute is set to zero.
    3. Associate this profile with this robot motion operation using the Teach command.
    For further details, refer to Setting RRS-II Controller Specific Attributes.
  2. Make the RRS-II connection for the robot(s) as described in Connecting to an RRS-II Server.
  3. If the VRC Program corresponding to the robot task to be simulated does not exist, invoke the V6 Offline Programming Download command on the robot task to create the VRC program corresponding to it.
  4. If necessary, use the File Transfer functionality of RRS-II Operations to transfer VRC Program file(s) to the VRC module (as described in Transferring Files from V6 to VRC).
    Note: You may make further updates to the VRC Program using possible program editing tools provided by the VRC module.
  5. Designate the VRC Program that should be loaded and activated by the VRC module during simulation using the Selecting a VRC Program functionality.
  6. Run the simulation.
  7. If the VRC Program was updated outside of V6, you can use the Offline Programming Upload functionality to upload the updated VRC program file into V6. Refer to Importing a Robot Program in the Offline Programming User's Guide for more details.