RRS  

This page deals with the RRS options for Resource Simulation robotics products.

RRS Properties

RRS$LIB Directory

Specifies the directory where V5 RRS-I and RRS-II interface shared library files are expected to be located. If this field is blank, these files will be searched for in the bin directory of the V5 installation (<V5 install path\arch>\code\bin).

The initial setting is blank.

RRS Servers File

This field provides the full path name of the RRS servers file.

The default value is <V5 install path\arch>\startup\rrs\rrs.servers

RCSDATA$LIB Directory

Specifies a semicolon-separated list of RCS data home directories that you can later choose from when connecting RRS to a robot. The selected RCS data home directory is then pre-pended to the specified Relative Robot Path to create an RRS-I Robot Path Name full path that is sent to the RCS module during RRS connection.

If this field is left blank, this setting defaults to the RCS home directory of the RRS server selected during the RRS connection.

Note: This setting does not apply to RRS-II.

The initial setting is blank.

RRS-II  Properties

RRS-II properties settings allow general and controller-specific customization of V5 RRS-II operation. Options in this section do not apply to RRS-I.
The various RRS-II settings are described below. Note that, to set controller-specific attributes, the controller whose options are to be set must first be selected from the list of available controller identifiers via the pull down menu shown at the top of the Controller-Specific Properties section of this dialog. Refer to Using Automatic Download/RRS-II File Transfer for how to add new controller identifiers to this list, and how the controller-specific properties are used during RRS-II Automatic Download/File Transfer.

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 V5 simulation commands (such as Robot Task Simulation, Process/Resource Simulation, Multi-Resource Simulation, etc.). 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 will not be able to move the robot. Therefore, the RRS-II motion planner should be disabled in such cases.

By default, this option is cleared.

Use VRC Module Inverse Kinematics
If checked and the VRC module supports it, all robot inverse kinematics requests (by commands such as Jog, etc.) are routed to the inverse kinematics solver of the VRC module. Refer to Enabling VRC-based Inverse Kinematics in this manual for more details.

By default, this option 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, this option 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 V5 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 V5 simulation is resumed.

By default, this option is cleared.

Perform Main Task Processing during Simulation
If checked, this feature results in:
  • The identification of each RRS-II Robot's Main Task and last move activity to get executed within the context of the invoked (Robot Task/Multi-resource / Process / Resource) Simulation command,
  • If the special V5 attribute _num_targets: Integer is not used, the completion of the execution of the Main Task only when the VRC signals the end of execution of the active VRC program,
  • and, if the Download During Simulation Run option is checked, Main Task appearing as the robot's very first task in the OLP downloader generated simResult.xml file.
     
    Main Task is defined as:
    • Robot Task Simulation and Multi-Resource Simulation commands: The robot task selected for the RRS-II robot.
    • Process Simulation command: The one robot task activated for the RRS-II robot in the complete V5 process tree.
    • Resource Simulation command: The one robot task activated for the RRS-II Robot in the complete V5 Resource tree.

    This feature is not activated, and warnings issued, if the Main Task for an RRS-II robot could not be identified.

By default, this option is cleared.

RRS-II Free Play
Specifies the graphics update rate when the robot is in RRS-II Free Play mode.

By default, the step size is 0.1 seconds.

OLP/RRS-II File Transfer Data Consistency

Download Log File Name

Specifies the name of the file into which the custom downloader writes the Download Log file (that is then used by V5 to identify files that need to be RRS-II file transferred to the VRC, their target directory in the VRC file system, and also the new VRC program file path and name). Note that it is assumed that this file resides in the Robot Program Directory location specified in the Tools > Options > Resource Detailing > Offline Programming tab.

Delete Downloader Generated Files After File Transfer

If checked, all files that V5 was asked to transfer via RRS-II in the download log file are deleted after the file transfer is completed. Note that the download log file itself is not deleted.

By default, the log file name is download_log_file; the check box is cleared.

Controller-Specific Properties
If this is the first time an RRS-II connection is made to an updated RRS-II server, the Controller Identifier string is added to the list of controller identifiers to which controller-specific options can be associated . If this was not the first time, this controller identifier and the settings of all controller-specific options persist and are remembered in future sessions as are all other RRS-II options.

OLP/RRS-II File Transfer Data Consistency

Download During:

RRS Connect

If checked, this feature will be invoked during an RRS-II connection.

Simulation Run

If checked, this feature will be invoked as part of Process/Robot/Resource/Multi_Resource Task Simulation commands.

Update VRC Program File/Name Upon Download

If checked (and the V5 custom downloader generates the required data in the Download Log File), this feature will update the active VRC Program File and Name associated with the robot.

Download In Part Coordinates

If checked, when a V5 custom downloader is invoked, a download in part coordinates will be requested.

RRS-II Connect Downloader

Specifies the V5 custom downloader that is called when this feature is invoked during RRS-II Connect.

Simulation Run Downloader

Specifies the V5 custom downloader that is called when this feature is invoked during Simulation Run.

Consistency Command Downloader

Specifies the V5 custom downloader that is invoked when the "Make VRC Consistent" command is invoked.

By default, these check boxes and text fields are cleared.