YASKAWA Motoman MLX200 - Page 172

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168542-1CD
168542-1CD
MLX200 Software and
Operations
Appendix A
A.1 MLX200 Add-on Instructions
Table A-24: MLxRobotCollisionDetection Instruction
Name Data Type Usage Description
MLxRobotCollisionDetection MLxRobotCollisionDetection InOut
RobotNumber DINT Input The robot commanded by this instruction
instance. Valid values are 0 to
MLX[].NumberOfRobots-1.
CollisionFile DINT Input The Collision File to use. Valid values are
0 to ApplicationData.NumberOfCollision
Files-1
Action DINT Input Use this to define the action taken by the
instruction. Valid actions are:
0 - Start Measurement Mode.
1 - Start Execution Mode.
2 - Stop Collision Monitoring.
3 - Get Maximum Torque Disturbance.
4 - Reset Maximum Torque Disturbance.
ApplicationData MLxApplicationData InOut The MLxApplicationData Control Module
scope tag
MLX MLxData InOut The MLxData Control Module Scope tag
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 will turn HIGH when the
command has been processed. The rung
must stay enabled until this bit is active.
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.
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