Appendix A
A.1 MLX200 Add-on Instructions
A-28
168542-1CD
168542-1CD
MLX200 Software and
Operations
A.1.22 MLxRobotSetToolProperties
The MLxRobotSetToolProperties instruction is used to update the offset
between the Tool Plate and TCP position of the Robot. The ToolPose
parameter defines the (X,Y,Z,RX,RY,RZ) offsets for the new tool position.
A new Tool Pose will change the TCP position of the Robot reported from
MLxRobotCoordinateTransform and will also affect the TCP positions
passed into Motion instructions as parameters. The Tool Pose is also used
when doing Relative or Jogging motions in the Tool Frame.
Fig. A-22: MLxRobotSetToolProperties Instruction
Table A-22: MLxRobotSetToolProperties Instruction
Name Data Type Usage Description
RobotNumber DINT Input The robot commanded by this instruction
instance. Valid values are 0 to
MLX[].NumberOfRobots-1.
ToolNumber DINT Input Index of the tool to use from the
ApplicationDataTools[] array
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.
ApplicationData MLxApplicationData InOut The MLxApplicationData Control Module scope
tag
MLX MLxData InOut The MLxData Control Module Scope tag
To Next Page
Loading...
