A-19
168542-1CD
168542-1CD
MLX200 Software and
Operations
Appendix A
A.1 MLX200 Add-on Instructions
A.1.14 MLxRobotJogAxesToPoint
The MLxRobotJogAxesToPoint instruction is used to manually jog the
robot to a target axes position in axis-interpolated motion. The TargetAxes
parameter defines the target position, and the Speed is defined as a % of
maximum speed.
If using the MLX 200 HMI, the {Teach} Screen can be used instead of
directly calling this AOI from application logic.
Fig. A-14: MLxRobotJogAxesToPoint Instruction
Table A-14: MLxRobotJogAxesToPoint Instruction
Name Data Type Usage Description
RobotNumber DINT Input The robot commanded by this instruction
instance. Valid values are 0 to
MLX[].NumberOfRobots-1.
TargetPoisition MLxAppDataTeachPoint InOut Target Position to jog the robot to, in Axis jog
mode
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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