A-45
168542-1CD
168542-1CD
MLX200 Software and
Operations
Appendix A
A.1 MLX200 Add-on Instructions
A.1.36 MLxRobotSetProperties
The MLxRobotSetProperties instruction is used to update the Robot
Configuration Data (e.g. TCP speed/acceleration limits, Axis position/
speed/acceleration limits, etc). This data should be directly changed
inside the MLX[].Robot[].ConfigurationData and
MLX[].Robot[].RobotAxes[].ConfigurationData structure before calling the
AOI. Then, when this AOI is called, the new configuration parameters will
be stored; however, these parameters will not persist when the system is
restarted. If different limits are desired, call this AOI during application
initialization
Fig. A-36: MLxRobotSetProperties lnstruction
Table A-36: MLxRobotSetProperties 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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