Register Instructions

The data type used by the PLC is MM_Interface struct, which occupies 728 D registers. The start and end address of the variable in the struct should be the same as that has been set in Mech-Vision. When the start address set in the PLC and Mech-Vision is 10000, the register addresses of each variable are shown in the figure below.

The address offset from the start(base) address and comments of the registers for each variable are shown in the table below.

Address offset	Name	Data type	Comment
0	Command_Trigger	Word[Signed]	Trigger the signal
1	Command	Word[Signed]	Command code
2	Pose_Type	Word[Signed]	Pose type
3	Pose_Number	Word[Signed]	Expected number of the vision points
4	Vision_Project_Num	Word[Signed]	Mech-Vision project ID
5	Recipe_Num	Word[Signed]	Mech-Vision parameter recipe ID
6	Joint_Position	Float[Single Precision][6]	Joint positions data
18	TCP_Pose	Float[Single Precision][6]	Flange pose data
30	Branch_Name	Word[Signed]	Step ID of the Branch by Msg Step in Mech-Viz
31	Branch_Exit_Port	Word[Signed]	The number of the exit port to take for the Branch by Msg Step in Mech-Viz
32	Index_Name	Word[Signed]	ID of the Mech-Viz Step with the Index parameters
33	Index_Counter	Word[Signed]	The index value that should be set the next time this Step is executed
34	Ext_InputBoxDim	Float[Single Precision][3]	Object dimensions (length, width, height in mm) input to the Mech-Vision project
40	Ext_Input_Pose	Float[Single Precision][6]	External TCP data input to the Mech-Viz project
52	Robot_Move_Status	Word[Signed]	Robot motion status
53	Reserved	Word[Signed][44]	Reserved field
97	Trigger_Acknowledge	Word[Signed]	For determine whether the command is triggered successfully
98	Notify	Word[Signed]	Custom messages sent by the Notify Step in Mech-Vision
99	Heartbeat	Word[Signed]	Heartbeat value
100	Status_Code	Word[Signed]	Status code
101	Status_of_Pose_Sent	Word[Signed]	Status of the sent poses
102	Number_of_Pose_Sent	Word[Signed]	Number of the sent poses
103	Index_of_Vision_Picking_Point	Word[Signed]	Position of the “Vision Move” Step
104	Target_Pose	Float[Single Precision][240]	Target pose
584	Target_Label	Word[Signed][40]	Label
624	Speed_Percentage	Word[Signed][40]	Speed
664	Digital_Output	Word[Signed][40]	Digital output signal