A-29
168542-1CD
168542-1CD
MLX200 Software and
Operations
Appendix A
A.1 MLX200 Add-on Instructions
A.1.23 MLxRobotSetUserFrame
The MLxRobotSetUserFrame instruction is used to set the Active User
Frame for a Robot. The UserFrame parameter is a REAL[6] array
containing the (X,Y,Z,RX,RY,RZ) coordinates of the User Frame in World
Coordinates. Changing the active User Frame will affect Relative and
Jogging Motions in the User Frame.
Fig. A-23: MLxRobotSetUserFramer Instruction
Table A-23: 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.
UserFrameNumber DINT Input Index of the user frame to use, from the
ApplicationDataUserFrames[] 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
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