A-17
168542-1CD
168542-1CD
MLX200 Software and
Operations
Appendix A
A.1 MLX200 Add-on Instructions
Table A-12: MLxRobotMoveCircular
Name Data Type Usage Description
MLxRobotMoveCircular MLxRobotMoveCircular InOut
RobotNumber DINT
Input The robot commanded by this instruction
instance. Valid values are 0 to
MLX[].NumberOfRobots-1.
ViaPosition MLxAppDataTeachPoint Input VAn MLxRobotPosition structure containing the
target TCP coordinates and closure information
for the circular arc Via Position.
FinalPosition MLxAppDataTeachPoint InOut An MLxRobotPosition structure containing the
target TCP coordinates and closure information
for the circular arc Final Position.
Angle REAL Input Angle of the circular arc to draw. For example,
360.0 will draw a full circle while 720.0 will draw
two circles. If set to 0.0, the circular arc will
interpolate the angle to the final position.
RotationType REAL Input 0 = Use initial orientation (no rotational motion),
1 = Interpolate initial and final orientation (i.e.
middle orientation is ignored), 2 = Variable
Interpolation (interpolate interior orientation
position)
BlendFactor DINT Input Valid values: -1-8. 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
SpeedUnits DINT Input 0 = % Maximum, 1 = Absolute Value in position
units/sec
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 will turn HIGH when the
command has been processed and added to the
motion queue. The rung must stay enabled until
this bit is active.
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.
Sts_PC BOOL Output Process complete bit. HIGH if this motion has
reached the end of its commanded trajectory.
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.
PercentComplete SINT Output Percentage of motion that is completed
To Next Page
Loading...
