Register Instructions

The data type used by the PLC is the MM_Interface struct, which occupies 728 D registers. The start and end addresses of the variables in the struct should be the same as that set in Mech-Vision. When the start address set in the PLC and Mech-Vision is 10000, the register addresses of each variable are shown in the figure below.

Unnamed image

The address offset from the start (base) address and descriptions of the registers for each variable are listed in the table below.

Address offset Name Data type Description

0

Command_Trigger

Word[Signed]

Trigger the signal

1

Command

Word[Signed]

Command code

2

Pose_Type

Word[Signed]

Pose type

3

Pose_Number

Word[Signed]

Expected number of vision points

4

Vision_Project_Num

Word[Signed]

Mech-Vision project ID

5

Recipe_Num

Word[Signed]

Mech-Vision parameter recipe ID

6

Joint_Position

Float[Single Precision][6]

Joint position data

18

TCP_Pose

Float[Single Precision][6]

Flange pose data

30

Branch_Name

Word[Signed]

The Step ID of the “Branch by Msg” Step in Mech-Viz

31

Branch_Exit_Port

Word[Signed]

The number of the exit port of the “Branch by Msg” Step in Mech-Viz

32

Index_Name

Word[Signed]

Step ID of the Mech-Viz Step with the Current Index parameter.

33

Index_Counter

Word[Signed]

The index value that should be set the next time this Step is executed.

34

Ext_InputBoxDim

Float[Single Precision][3]

The object dimensions (length, width, and height in mm) to be input to the Mech-Vision project

40

Ext_Input_Pose

Float[Single Precision][6]

The external TCP data to be input to the Mech-Viz project

52

Robot_Move_Status

Word[Signed]

Robot motion status

53

Depalletize_Tool_Section_Count

Word[Signed]

Number of vacuum gripper sections

54

Reserved

Word[Signed][43]

Reserved field

97

Trigger_Acknowledge

Word[Signed]

Trigger confirmation

98

Notify

Word[Signed]

Custom notification message

99

Heartbeat

Word[Signed]

Heartbeat value

100

Status_Code

Word[Signed]

Status code

101

Status_of_Pose_Sent

Word[Signed]

Data transmission status

102

Number_of_Pose_Sent

Word[Signed]

Number of poses sent

103

Index_of_Vision_Picking_Point

Word[Signed]

Position of “Vision Move” in the planned path

104

Target_Pose

Float[Single Precision][240]

Pose data

584

Target_Label

Word[Signed][40]

Labels corresponding to the poses

624

Target_Tool_ID

Word[Signed][40]

Tool ID

664

Digital_Output

Word[Signed][40]

Digital output signal

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