A-27
168542-1CD
168542-1CD
MLX200 Software and
Operations
Appendix A
A.1 MLX200 Add-on Instructions
A.1.21 MLxRobotSetFrameShift
The MLxRobotSetFrameShift instruction allows a user to execute a
Cartesian offset that is applied to subsequent moves. This is useful for
defining programmatic patterns such as a pelletizing application where the
first product is located, and the rest of the positions are offsets from that
position. The CoordFrame parameter defines the frame to shift the motion
relative to:
• 0 - World Frame
• 1 - [UNUSED]
• 2 - User Frame (note: by default, the active User Frame is the same
as the World Frame. Use the MLxRobotSetUserFrame instruction to
set a new User Frame).
Fig. A-21: MLxRobotSetFrameShift Instruction
Table A-21: MLxRobotSetFrameShift Instruction
Name Data Type Usage Description
RobotNumber DINT Input The robot commanded by this instruction
instance. Valid values are 0 to
MLX[].NumberOfRobots-1.
FrameShift REAL[6] InOut Frame Shift Value (X, Y, Z, RX, RY, RZ)
CoordFrame DINT Input 0 = Robot 1 = Base,
2 = User
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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