Appendix A
A.1 MLX200 Add-on Instructions
A-14
168542-1CD
168542-1CD
MLX200 Software and
Operations
A.1.11 MLxRobotMoveLinearRelative
The MLxRobotMoveLinearRelative instruction is used to initiate a Linear
motion of the robot TCP in Cartesian space to a relative target position
(e.g. a position 100 mm away in the Z direction). The result is a straight
line trajectory for the robot TCP. The user can specify the delta position as
well as desired speed, accel/decel, and jerk parameters (when using a
Jerk-Limited Velocity Profile). These parameters can be specified as
either absolute values (e.g. 750 mm/sec) or a percentage of the max
speed (e.g. 50%). The max translational and rotational speeds can be
found in the MLX[].Robot[].ConfigurationData data structure. In addition,
the user can specify a Coordinate Frame to do the motion relative to:
• 0, World: System performs a linear motion relative to the world frame
using the incremental values found in the DeltaPosition input
parameter.
• 1, Tool: System performs a linear motion relative to the active tool
pose along the tool coordinate system using the incremental values
found in the DeltaPosition input parameter.
• 2, User: System will perform a linear motion relative to the active
user frame using the incremental values found in the DeltaPosition
input parameter.
Fig. A-11: MLxRobotMoveLinearRelative Instruction
Table A-11: MLxRobotMoveLinearRelative 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 MLxRobotPosition InOut An MLxRobotPosition structure containing the
relative target TCP coordinates and closure
information.
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.
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