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168542-1CD
MLX200 Software and
Operations
Appendix A
A.1 MLX200 Add-on Instructions
A.1.30 MLxGetModuleInfo
The MLxGetModuleInfo instruction is used to retrieved information about
the configuration of the connected MLX200 Robot Control Module. This
information includes the type of Control Module, the IP and MAC
addresses, and the firmware version. This information will get
automatically populated during initialization.
Fig. A-30: MLxGetModuleInfo
Table A-30: MLxGetModuleInfo Instruction
Name Data Type Usage Description
ModuleInfo MLxModuleInfo InOut An MLxModuleInfo data structure that will
contain the MLX200 Control Module Info.
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 Output If the instruction fails, this parameter will contain
the error code. Call MLxGetErrorDetail to get
detailed error information.
MLX MLxData InOut The MLxData Control Module Scope tag
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