Appendix A
A.1 MLX200 Add-on Instructions
A-44
168542-1CD
168542-1CD
MLX200 Software and
Operations
A.1.35 MLxRobotGetProperties
The MLxRobotGetProperties instruction is used to read the configuration
parameters of a Robot. These properties will automatically populate the
MLX[].Robot[].ConfigurationData as well as the individual axis
configurations inside MLX[].Robot[].RobotAxes[]. This AOI will
automatically run during system initialization to populate this data.
Fig. A-35: MLxRobotGetProperties lnstruction
Table A-35: MLxRobotGetProperties Instruction
Name Data Type Usage Description
RobotNumber DINT Input Robot to read digital inputs from Range is
0-numberO Robots
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.
MLX MLxData InOut The MLxData Control Module Scope tag
ErrorCode DINT Inputs If the instruction fails, this parameter will contain
the error code. Call MLxGetErrorDetail to get
detailed error information.
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