Master-Control Program Description
Program Modules
| Module name | Description |
|---|---|
mm_relay |
Background program used to receive Robserver data. |
mm_state |
Background program used to send data of robot poses, signals, and states. |
mm_movesm |
Foreground program used to control robot motion. |
mm_moveid |
Background program used to write the data received by mm_relay to the register. |
mm_run |
Automatically run the foreground and background programs upon startup. |
Occupied Registers
| Numerical register | Description | |
|---|---|---|
PAYLOAD_ID |
100 |
Payload ID. |
AXIS_GRP_REG |
179 |
Motion group ID. |
MOVE_SPD_REG |
180 |
Joint motion speed multiplier. Valid values: 1 to 100. Unit: %. |
MOVE_CNT_REG |
181 |
Accuracy of the robot reaching the target point. Valid values: 0 to 100. Unit: %. A smaller value indicates higher accuracy. |
MOVE_TYP_REG |
182 |
Motion type (linear motion or joint motion). |
MOVL_RG_SPD |
183 |
Linear motion velocity. |
RI_C_BRANCH |
184 |
Switch the control. |
MOVE_ACC_REG |
185 |
Motion acceleration. Valid values: 1 to 100. Unit: %. |
R_STOP_MOVE |
190 |
Stop the motion. |
| Position register | Description | |
|---|---|---|
MOVE_PREG |
80 |
Current pose data. |
Occupied Flags
| Flag | Description | |
|---|---|---|
F_MSM_RDY |
180 |
Communication ready. |
F_MSM_DRDY |
181 |
Data ready. |
F_TK_CTRL |
182 |
Take control. |
F_STOP_CLR |
191 |
Data cleared. |
Occupied Socket Messaging Servers
| Server label | Description |
|---|---|
S3 |
Receive robot status. |
S4 |
Receive command data. |