A-25
168542-1CD
168542-1CD
MLX200 Software and
Operations
Appendix A
A.1 MLX200 Add-on Instructions
A.1.19 MLxRobotSetCubicIZByCenterPoint
The MLxRobotSetCubicIZByCenterPoint instruction is used to define a
Cubic IZ (Interference Zone) by defining a Center Point and the
Dimension around it (length, width, height). The IZAction parameter is
used to define the action of the IZ:
• 0 - When the IZ is entered, the bit in MLX[].Robot[].CubicIZStatus
corresponding to the ZoneID will turn high. This can then be used in
application logic to perform or prevent certain operations while the
robot is inside the zone.
• 1 - When the TCP attempts to enter the IZ, the Robot will Abort and
transition to ServosOffAborted state. This is useful when the Robot
has delicate items in the workspace that should be avoided.
• 2 - Deactivate the current IZ.
Fig. A-19: MLxRobotSetCubicIZByCenterPoint Instruction
Table A-19: MLxRobotSetCubicIZByCenterPoint Instruction
Name Data Type Usage Description
RobotNumber DINT Input The robot commanded by this instruction
instance. Valid values are 0 to
MLX[].NumberOfRobots-1.
ZoneID DINT Input Internal number identifier for IZ. This number will
be used in the error messages
CenterPoint REAL[6] InOut Defines position of coordinate frame to be the
center of the IZ.
Dimensions REAL[3] InOut Defines the distance along each of the Center
Points axes to define the cube. See User Guide
for more information.
IZAction DINT Input 0 = MonitorOnly, 1= StopMotion, 2 = Clear IZ
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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