Register Instructions

The data type used by the PLC is MM_Interface struct, which occupies 728 D registers. The start and end address of the variable in the struct should be the same as that has been 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.

../../../../../_images/register_instructions.png

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

Address offset

Name

Data type

Comment

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 the 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 positions data

18

TCP_Pose

Float[Single Precision][6]

Flange pose data

30

Branch_Name

Word[Signed]

Step ID of the Branch by Msg Step in Mech-Viz

31

Branch_Exit_Port

Word[Signed]

The number of the exit port to take for the Branch by Msg Step in Mech-Viz

32

Index_Name

Word[Signed]

ID of the Mech-Viz Step with the Index parameters

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]

Object dimensions (length, width, height in mm) input to the Mech-Vision project

40

Ext_Input_Pose

Float[Single Precision][6]

External TCP data input to the Mech-Viz project

52

Robot_Move_Status

Word[Signed]

Robot motion status

53

Reserved

Word[Signed][44]

Reserved field

97

Trigger_Acknowledge

Word[Signed]

For determine whether the command is triggered successfully

98

Notify

Word[Signed]

Custom messages sent by the Notify Step in Mech-Vision

99

Heartbeat

Word[Signed]

Heartbeat value

100

Status_Code

Word[Signed]

Status code

101

Status_of_Pose_Sent

Word[Signed]

Status of the sent poses

102

Number_of_Pose_Sent

Word[Signed]

Number of the sent poses

103

Index_of_Vision_Picking_Point

Word[Signed]

Position of the “Vision Move” Step

104

Target_Pose

Float[Single Precision][240]

Target pose

584

Target_Label

Word[Signed][40]

Label

624

Speed_Percentage

Word[Signed][40]

Speed

664

Digital_Output

Word[Signed][40]

Digital output signal