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. |