Appendix A
A.1 MLX200 Add-on Instructions
A-32
168542-1CD
168542-1CD
MLX200 Software and
Operations
A.1.25 MLxRobotConvSyncStart
MLxRobotConvSyncStartt is used to initialize a conveyor tracking
operation. This AOI will wait until a product has passed the
ConveyorStartPosition and then sync with the conveyor. All commands
performed after an MLxRobotConvSyncStartt command will track the
conveyor until an MLxConvSyncStop is called
Fig. A-25: MLxRobotConvSyncStart Instruction
Table A-25: MLxRobotConvSyncStart Instruction
Name Data Type Usage Description
RobotNumber DINT Input The robot commanded by this instruction
instance. Valid values are 0 to
MLX[].NumberOfRobots-1.
ConveyorNumber DINT Input The number of the conveyor corresponding to
the data in ApplicationDataConveyorData Valid
values are 0-3
UserFrameNumber DINT Input The User Frame number that stores the X
direction for the conveyor. Note: this User
Frame must be defined in the ApplicationData,
but does not need to be the active User Frame
ConveyorStartPosition REAL Input This the position in mm at which point the
system will initialize conveyor tracking
operations.
ConveyorTeachPositon REAL Input This is the position in mm where the teach
points for the following motion commands were
taught
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 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.
Sts_OL BOOL OutPut This bit turns high if the first object in the queue
is past the MLX[] ConveyorData[],
MaxStartPosition value
To Next Page
Loading...
