YASKAWA Motoman MLX200 - A.1.37 MLxSetGlobalParameter

Appendix A
A.1 MLX200 Add-on Instructions
A-46
168542-1CD
168542-1CD
MLX200 Software and
Operations
A.1.37 MLxSetGlobalParameter
The MLxSetGlobalParamer is for setting an MLX Global Parameter. The
type of parameter can be set using the ParameterType field. Available
parameter types include:
• 0 - Speed Scale % (5-100). This sets the global speed scale for all
motions. Default value is 100.
Table A-37: MLxSetGlobalPrameter Instructions
NOTE
The MLxSetGlobalParameter only affects motions that are
placed in cue after entering the instructions. To slow down
motions immediately enter instruction MLxHold,
MLxSetGlobalParameter, MlxRestart.
NOTE
Contact the Add-On Instruction developer for questions or
problems with this instruction
Name Data Type Usage Description
MLxSetGlobalParameter MLxSetGlobalParameter InOut
ParameterType DINT Input
Type of global parameter to set. Options:
0 - Speed Scale % (5-100)
ParameterValue REAL Input Value of the global parameter.
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. Use MLxGetSystemErrorDetail for a
detailed error message.
MLX MLxData InOut The MLxData Controller Scope tag.
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