FANUC Program Description¶

Program Module¶

Program Modules	Description
mm_relay	background program used to receive Robserver data
mm_state	background program used to send data of robot pose, signal, and status
mm_movesm	foreground program used to guide the robot to move
mm_moveid	background program used to write the data received by mm_relay to the register
mm_run	automatically run the foreground and background program after running this module
mm_struct_h	defined struct data

Register		Description
MOVE_SPD_REG	180	integer register: motion velocity (in %)
MOVE_CNT_REG	181	integer register: motion termination (in %)
MOVE_TYP_REG	182	indicate the move type, J or L
MOVL_RG_SPD	183	move L velocity
RI_C_BRANCH	184	mm control branch

Position Register		Description
MOVE_PREG	80	position register for current point