Master-Control Program Description

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Master-Control Program

The Master-Control program contains the following components. The SRC files are program files, the DAT files are data files, and XML files are communication configuration files.

Program Description

mm_server.sub

Background program for receiving Robserver data and sending robot pose, signal and status data

mm_server.dat

Data file for the background program

motion_control.src

Foreground program for controlling and moving the robot

mainmodule.src

Foreground main module of the master-control program

mainmodule.dat

Data file for the main module of the master-control program

mm_status.xml

Configuration file for communicating robot status

mm_motion.xml

Configuration file for communicating robot motion

Signals

The program supports 16 DI and DO signals by default. User can extend to 64 DI and DO signals by editing the program file.

Method: Open the mm_server file, add a semicolon (comment symbol) at the start of Line 290 and remove the semicolon at the start of Line 291.

signal introduction

Signal table

Internal flag Description

$FLAG[1]

Flag indicating that mm_motion has successfully connected

$FLAG[2]

Flag indicating that mm_motion has received data

$FLAG[5]

Flag indicating that mm_status has successfully connected

$FLAG[6]

Flag indicating that mm_status has received data

IO occupied Signal

DI (16)

$IN[1] - $IN[16]

DO (16)

$OUT[1] - $OUT[16]

DI (64)

$IN[1] - $IN[64]

DO (64)

$OUT[1] - $OUT[64]

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