Appendix A
A.1 MLX200 Add-on Instructions
A-10
168542-1CD
168542-1CD
MLX200 Software and
Operations
A.1.9 MLxRobotMoveAxisRelative
The MLxRobotMoveAxisRelative instruction is used to move each axis of
the robot to the final relative 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-9: MLxRobotMoveAxisRelative Instruction
Table A-9: MLxRobotMoveAxisRelative Instruction
Name Data Type Usage Description
RobotNumber DINT Input The robot commanded by this instruction
instance. Valid values are 0 to
MLX[].NumberOfRobots-1.
DeltaPosition REAL[7] InOut Target Relative Axis Position. If Robot has less
than 7 axes, only the first n are used where n is
the number of axes for the robot.
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
Sts_IP BOOL Output In process bit. This Instruction is actively
executing, but another instruction may be
commanding the active movement.
Sts_AC BOOL Output Active bit HIGH if this motion is currently
executing
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