FANUC Master-Control Program Description
Program Module
| Module Name | 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 speed |
RI_C_BRANCH |
184 |
mm control branch |
| Position Register | Description | |
|---|---|---|
MOVE_PREG |
80 |
position register for current point |