Register Instructions
The data type used by the PLC is the MM_Interface struct, which occupies 1528 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.
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 or waypoints |
4 |
Vision_Project_Num |
Word[Signed] |
Mech-Vision project ID |
5 |
Recipe_Num |
Word[Signed] |
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] |
Branch by Msg Step ID |
31 |
Branch_Exit_Port |
Word[Signed] |
Number of the exit port of the Branch by Msg Step |
32 |
Index_Name |
Word[Signed] |
Step ID of the index-type Step |
33 |
Index_Counter |
Word[Signed] |
Value of the Current Index parameter of the index-type Step |
34 |
Ext_InputBoxDim |
Float[Single Precision][3] |
Object dimensions (length, width, height) to be input to the Mech-Vision project |
40 |
Ext_Input_Pose |
Float[Single Precision][6] |
External robot TCP 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] |
Message from the Notify Step |
99 |
Heartbeat |
Word[Signed] |
Heartbeat value |
100 |
Status_Code |
Word[Signed] |
Status code |
101 |
Status_of_Pose_Sent |
Word[Signed] |
Whether all vision points or waypoints have been obtained |
102 |
Number_of_Pose_Sent |
Word[Signed] |
Number of vision points or waypoints |
103 |
Index_of_Vision_Picking_Point |
Word[Signed] |
Position of “Vision Move” in the planned path |
104 |
Target_Pose |
Float[Single Precision][240] |
Poses of all waypoints or vision points obtained this time |
584 |
Target_Label |
Word[Signed][40] |
Labels of all waypoints or vision points obtained this time |
624 |
Target_Tool_ID |
Word[Signed][40] |
Tool IDs of all waypoints obtained this time |
664 |
Digital_Output |
Word[Signed][64] |
64 DO signals returned by the vision system |
728 |
Custom_Vision_Output |
Float[Single Precision][400] |
Custom data of all vision points obtained this time |