A-3
168542-1CD
168542-1CD
MLX200 Software and
Operations
Appendix A
A.1 MLX200 Add-on Instructions
A.1.3 MLxHold
The MLxHold instruction is used to stop all axes/robots in the current path,
while maintaining the queue of programmed motions. The system will
transition to the Held state after this command. The queued motions can
be restarted using the MLxRestart command.
Fig. A-3: MLxHold Instruction
Table A-3: MLxHold Instruction
Name Data Type Usage Description
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
Sts_DN BOOL Output Done bit. This bit will turn high when the
instruction has finished
Sts_EN BOOL Output Enable bit. This bit will stay high as long as the
ladder rung is enabled
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.
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