Appendix A
A.1 MLX200 Add-on Instructions
A-34
168542-1CD
168542-1CD
MLX200 Software and
Operations
A.1.27 MLxRobotConvSyncStopWithAxisMot
The MLxRobotConvSyncStopWithAxisMot command is used to stop
conveyor tracking operations and blend directly into an Absolute Axis
motion.
Fig. A-27: MLxRobotConvSyncStopWithAxisMot Instruction
Table A-27: MLxRobotConvSyncStopWithAxisMot 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
ConveyorPosition DINT Input This value must be equal to the CurrentValue of
the conveyor
KeepInQueue BOOL Input If set to 1, this part will be moved to the robot
specified in NewRobotQueue. If set to 0, the
part will be removed from the queue and no
longer tracked.
NewRobotQueue DINT Input If KeepInQueue is set to 1, this parameter holds
the robot to move the part to. If
NewRobotQueue is the same as RobotNumber,
the part is held in the current robot's queue.
TargetPosition MLxAppDataTeachPoint InOut MLxAppDataTeachPoint containing the target
position. This position can be taught from the
{Teach} Screen using the MLX200 HMI
TargetType BOOL Input Axis/TCP Position. 0= Axis Position 1= TCP
Position. This will define which data inside the
TeachPoint structure to use. In most cases,
these values will be the same and lead to the
same motion. However, if the data inside the
TeachPoint has been modified manually, this
parameter can be used to point to the new data.
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