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]