Appendix A
A.1 MLX200 Add-on Instructions
A-42
168542-1CD
168542-1CD
MLX200 Software and
Operations
A.1.33 MLxRobotGetHomeOffsets
The MLxRobotGetHomeOffsets is used to retrieve the current home
positions for each robot axis.
Fig. A-33: MLxRobotGetHomeOffsets lnstruction
Table A-33: MLxRobotGetHomeOffsets Instruction
Name Data Type Usage Description
RobotNumber DINT Input Robot to read digital inputs from Range is
0-numberO Robots
OffsetType DINT Input Specifies the type of offset value to retrieve.
0 = Get the offsets measured at current robot
location, 1 = Get the home offset values
currently in use by the system
Offset DINT[7] InOut Contains the retrieved offset values
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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