Appendix A
A.1 MLX200 Add-on Instructions
A-18
168542-1CD
168542-1CD
MLX200 Software and
Operations
A.1.13 MLxRobotJogAxes
The MLxRobotJogAxes instruction is used to manually jog the axes of the
robot. The Directions parameter is an array the defines the direction to jog
each axes with 1 being in the positive direction and -1 being in the
negative direction. The Directions parameter is a DINT[7] array with only
the first n parameters being used where n is the number of axes in the
robot. The Speed is defined as a % of maximum speed.
If using the MLX200 HMI, the {Teach} Screen can be used instead of
directly calling this AOI from application logic.
Fig. A-13: MLxRobotJogAxes Instruction
Table A-13: MLxRobotJogAxes Instruction
Name Data Type Usage Description
RobotNumber DINT Input The robot commanded by this instruction
instance. Valid values are 0 to
MLX[].NumberOfRobots-1.
Directions DINT[7] InOut Defines the job directions for each robot axis: 0 -
Positive, 1 - Negative. If robot has less than 7
axes remaining values are ignored.
Speed REAL Input Speed to move axis in % of maximum.
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_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.
ErrorCode DINT Input If the instruction fails, this parameter contain the
error code. Call MLxGetErrorDetail to get
detailed error information.
MLX MLxData InOut The MLxData Control Module Scope tag
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