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 |
Occupied Registers
| Register | Description | |
|---|---|---|
MOVE_SPD_REG |
180 |
integer register: motion speed (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 |