ABB Program Description¶
Program Module¶
Program Module |
Description |
motion_server |
Background program used to receive data from Mech-Center |
status_server |
Background program used to send data of robot pose, signal, and status |
motion_control |
Foreground program used to guide the robot to move |
pause_control |
Program used to pause |
MainModule |
Main program |
mm |
Program data used to define the full-control program |
Signal¶
Support 64 D/I and D/O signals in maximum. Support 16 D/I and D/O signals when loading the program files by default.
D/O |
go16 |
go16_2 |
go16_3 |
go16_4 |
D/I |
gi16 |
gi16_2 |
gi16_3 |
gi16_4 |