Master-Control Program Description

Program Modules

  • motion_server: Background program used to receive data from Mech-Viz

  • status_server: Background program used to send data of robot pose, signal, and status

  • motion_control: Foreground program used to guide the robot to move

  • pause_control: Program used to pause

  • MainModule: Main program

  • mm: Defining variables used by the Master-Control program

  • 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

Input signal

gi16

gi16_2

gi16_3

gi16_4

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