FANUC Program Description¶
Program Module¶
Program Modules |
Description |
mm_relay |
background program used to receive Robserver data |
mm_state |
background program used to send data of robot pose, signal, and status |
mm_movesm |
foreground program used to guide the robot to move |
mm_moveid |
background program used to write the data received by mm_relay to the register |
mm_run |
automatically run the foreground and background program after running this module |
mm_struct_h |
defined struct data |
Occupied Registers¶
Register |
Description |
|
MOVE_SPD_REG |
180 |
integer register: motion velocity (in %) |
MOVE_CNT_REG |
181 |
integer register: motion termination (in %) |
MOVE_TYP_REG |
182 |
indicate the move type, J or L |
MOVL_RG_SPD |
183 |
move L velocity |
RI_C_BRANCH |
184 |
mm control branch |
Position Register |
Description |
|
MOVE_PREG |
80 |
position register for current point |
Occupied FLAGs¶
FLAG |
Description |
|
F_MSM_RDY |
180 |
ready signal flag |
F_MSM_DRDY |
181 |
data ready signal flag |
F_TK_CTRL |
182 |
takes control flag |
RI_MM_LOCK |
183 |
trajectory lock flag |
R_STOP_MOVE |
190 |
stop move flag |
F_STOP_CLR |
191 |
clear data flag |