Appendix A
A.1 MLX200 Add-on Instructions
A-24
168542-1CD
168542-1CD
MLX200 Software and
Operations
A.1.18 MLxRobotSetBasePose
The MLxRobotSetBasePose instruction is used to set the position and
orientation of the robot with respect to the World Frame. Changing a
Robot's Base Pose will not cause any motion but will change the TCP
position reported from MLxRobotCoordinateTransform. This is particularly
useful in cells with multiple robots where you want TCP positions to be
correctly reported in the work cell's World Frame.
Fig. A-18: MLxRobotSetBasePose Instruction
Table A-18: 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.
BasePose REAL[6] InOut Base Pose Value (X, Y, Z, RX, RY, RZ)
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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