Register Instructions

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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.

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 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

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