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.
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 |