KUKA Program Description

Master-Control Programs

The Master-Control programs contail the following components. The SRC files are program files, the DAT files are data files, and XML files are communication configuration files.

Program	Description
mm_server.sub	Background program for receiving data from Mech-Center and sending robot pose, signal and status data
mm_server.dat	Data file for the background program
motion_control.src	Foreground program for controlling and moving the robot
mainmodule.src	Foreground main module of the master-control program
mainmodule.dat	Data file for the main module
mm_status.xml	Configuration file for communicating robot status
mm_motion.xml	Configuration file for communicating robot motion

Internal Flags

Internal flag	Description
$FLAG[1]	Flag indicating that mm_motion has successfully connected
$FLAG[2]	Flag indicating that mm_motion has received data
$FLAG[5]	Flag indicating that mm_status has successfully connected
$FLAG[6]	Flag indicating that mm_status has received data

IOs

IO occupied	Signal
DI (16)	$IN[1]–$IN[16]
DO (16)	$OUT[1]–$OUT[16]
DI (64)	$IN[1]–$IN[64]
DO (64)	$OUT[1]–$OUT[64]