ABB Program Description

Program Module

Program Module

Description

motion_server

Background program used to receive data from Mech-Center

status_server

Background program used to send data of robot pose, signal, and status

motion_control

Foreground program used to guide the robot to move

pause_control

Program used to pause

MainModule

Main program

mm

Program data used to define the master-control program

Signal

Support 64 D/I and D/O signals in maximum. Support 16 D/I and D/O signals when loading the program files by default.

D/O

go16

go16_2

go16_3

go16_4

D/I

gi16

gi16_2

gi16_3

gi16_4