Appendix A
A.1 MLX200 Add-on Instructions
A-22
168542-1CD
168542-1CD
MLX200 Software and
Operations
A.1.16 MLxRobotJogTCPToPoint
The MLxRobotJogTCPToPoint instruction is used to manually jog the
robot to a target TCP position. The TargetTCP parameter contains the
(X,Y,Z,RX,RY,RZ) position of the target as well as closure information. 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.
If using the MLX 200 HMI, the {Teach} Screen can be used instead of
directly calling this AOI from application logic.
Fig. A-16: MLxRobotJogTCPToPoint Instruction
Table A-16: MLxRobotJogTCPToPoint 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.
UseRotationalSpeed BOOL Input Units to use for Speed 0 = (linear units)/sec, 1=
deg/sec. When set to 1, the speed of a linear
motion between two points is defined as the
time is takes to rotate the product at the defined
rotational speed. The rotation and linear
translation will stop at the same time
SpeedUnits DINT Input 0 = % Maximum, 1 = Absolute Value in position
units/sec
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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