Appendix A
A.1 MLX200 Add-on Instructions
A-20
168542-1CD
168542-1CD
MLX200 Software and
Operations
A.1.15 MLXRobotJogTCP
The MLxRobotJogTCP instruction is used to manually jog the TCP of the
robot. The Directions parameter is an array the defines the direction to jog
each coordinate direction (X,Y,Z,RX,RY,RZ). The Speed can be specified
as either absolute values (e.g. 750 mm/sec) or a percentage of the max
speed (e.g. 50%) depending on the SpeedUnits value. The CoordFrame
parameter defines which Coordinate Frame to perform the jogging in:
• 0 - World Frame
• 1 - Tool Frame
• 2 - User Frame
If using the MLX 200 HMI, the {Teach} Screen can be used instead of
directly calling this AOI from application logic.
Fig. A-15: MLxRobotJogTCP Instruction
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