Appendix A
A.1 MLX200 Add-on Instructions
A-2
168542-1CD
168542-1CD
MLX200 Software and
Operations
A.1.2 MLxEnable
The MLxEnable instruction is used to enable the servos on all axes/robots
and transition the system into Idle state. This must be called before
motions can be commanded on the system.
Fig. A-2: MLxEnable Instruction
Table A-2: MLxEnable Instruction
Name Data Type Usage Description
Sts_EN BOOL Output Enable bit. This bit will stay high as long as the
ladder rung is enabled
Sts_DN BOOL Output Done bit. This bit will turn high when the
instruction has finished
Sts_ER BOOL Output Error bit. Indicates an error during instruction
execution. If using HMI, view detailed error
message on {HMI} screen. Otherwise, call
MLxGetErrorDetail for more information.
ErrorCode DINT Output If the instruction fails, this parameter will contain
the error code. Call MLxGetErrorDetail to get
detailed error information.
MLX MLxData InOut The MLxData Control Module Scope tag.
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