Appendix A
A.1 MLX200 Add-on Instructions
A-8
168542-1CD
168542-1CD
MLX200 Software and
Operations
A.1.8 MLxRobotMoveAxisAbsolute
The MLxRobotMoveAxisAbsolute instruction is used to move each axis of
the robot to the final absolute commanded position as quickly as possible,
with all axes starting and stopping at the same time. While an axis motion
results in the shortest travel time, it does not follow a particular path for the
TCP. An axis move is the least likely to cause errors when recovering from
positions close to travel limits and singularities.The user can specify the
target position as well as desired speed, accel/decel, and jerk parameters
(when using a Jerk-Limited Velocity Profile). These parameters are
specified as a percentage of the max (e.g. 50%).
Fig. A-8: MLxRobotMoveAxisAbsolute Instruction
Table A-8: MLxRobotMoveAxisAbsolute Instruction
Name Data Type Usage Description
RobotNumber DINT Input The robot commanded by this instruction
instance. Valid values are 0 to
MLX[].NumberOfRobots-1.
TargetPosition MLxAppData TeachPoint InOut MLxAppDataTeachPoint containing the target
position. This position can be taught from the
{Teach} Screen using the MLX 200 HMI.
TargetType BOOL Input Axis/TCP Position. 0= Axis Position 1= TCP
Position. This will define which data inside the
TeachPoint structure to use. In most cases,
these values will be the same and lead to the
same motion. However, if the data inside the
TeachPoint has been modified manually, this
parameter can be used to point to the new data.
BlendFactor DINT Input Valid values: 0-8. This will define how much this
motion should be blended into the next motion.
Note: an additional motion will need to be added
to the queue for this parameter to work correctly.
See User Guide for detailed instructions on
using this parameter.
Speed REAL Input Speed to move axis in% of maximum.
Acceleration REAL Input Acceleration rate for axis in% of maximum.
Deceleration REAL Input Deceleration rate for axis in% of maximum.
MLX MLxData InOut The MLxData Control Module Scope tag
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
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