KUKA Program Description¶
Full-Control Programs¶
Program |
Description |
mm_server.sub |
Background program for receiving data from Mech-Center and sending robot pose, signal and status data |
mm_server.dat |
Data file for the background program |
motion_control.src |
Foreground program for controlling and moving the robot |
mainmodule.src |
Foreground main module of the full-control program |
mainmodule.dat |
Data file for the main module |
mm_status.xml |
Configuration file for communicating robot status |
mm_motion.xml |
Configuration file for communicating robot motion |
Internal Flags¶
Internal flag |
Description |
$FLAG[1] |
Flag indicating that mm_motion has successfully connected |
$FLAG[2] |
Flag indicating that mm_motion has received data |
$FLAG[5] |
Flag indicating that mm_status has successfully connected |
$FLAG[6] |
Flag indicating that mm_status has received data |
IOs¶
IO occupied |
Signal |
DI (16) |
$IN[1]–$IN[16] |
DO (16) |
$OUT[1]–$OUT[16] |
DI (64) |
$IN[1]–$IN[64] |
DO (64) |
$OUT[1]–$OUT[64] |