Master-Control Program Description
Program Modules
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motion_server: Background program used to receive data from Mech-Viz.
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status_server: Background program used to send data of robot pose, signal, and status
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motion_control: Foreground program used to guide the robot to move
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pause_control: Program used to pause
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MainModule: Main program
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mm: Defining variables used by the master-control program
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safe_area, WorldZone: Setting safety zone
Signals
Support 64 D/I and D/O signals in maximum. Support 16 D/I and D/O signals when loading the program files by default.
| Output signal | go16 | go16_2 | go16_3 | go16_4 |
|---|---|---|---|---|
D/I |
gi16 |
gi16_2 |
gi16_3 |
gi16_4 |