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MLX200 Software and
Operations
2 System Configuration
2.2 Configuring RSLogix Project
2.2.2.2 Creating the MLX200 Communications Task
Create a MLX200 communications task. Right-click on Tasks and select
“New Task”. Set the Type as Periodic, the Period to 2 ms, and the Priority
to 1.
Fig. 2-7: MLX200 Task Configuration
Now, right-click on the MLX200_Task, select Import Program, and
navigate to the MLX200Communications_0.L5X file included with
MLX200.
• The Period/Priority settings are recommendations only.
These can be changed if the settings lead to interference
with other components in the system or too much CPU
utilization; however, though this will not cause any motion
control performance issues, lowering these values can
cause synchronization delays between the Logix system
and the MLX200 Robot Control Module. Appendix B.
MLX200 Performance Results and Memory Usage
contains some basic performance results for differing
values of these parameters.
• The Task Period should be set equal to or higher than the
MLX200 Robot Control Module RPI. Setting the Task
Period lower than the RPI will not improve performance
but will increase CPU load.
• When importing the communications task, you may
receive a warning that says “Calls to the following
instruction(s) exist in source that is not editable.” This
warning can be ignored.
All MLX200 application code should be placed inside the MLX_Task.
Failure to do so could lead to unexpected behavior such as skipped
motions or motions being out or order after a Hold/Restart scenario.
See Section 3.3.1 “Task Scheduling” on page 3-9.
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