FANUC Master-Control Program Description

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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

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

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