3 Developing with MLX200
3.1 MLX200 Tag Structures
3-3
168542-1CD
168542-1CD
MLX200 Software and
Operations
3.1.2 Robot-Level Tag Structure
Each individual robot data structure contains the following information:
• Name - name of the Robot defined inside the MLX200 Configuration
File.
• ConfigurationData - contains properties of the robot kinematics
such as TCP speed and acceleration. This data is configured is read
from the MLX200 Configuration File and populated automatically
during system initialization.
• CubicIZStatus - contains status for any Cubic Interference Zone (IZ)
violations. The bit corresponding to the ZoneID will be high for any
violated zones. See A.18 and A.19 for more information on
Interference Zones.
• RobotAxes[] - contains information on each individual robot axis.
The data for each axis is the same as described in Section 3.1.3
“Axis-level Tag Structure” on page 3-4.
Fig. 3-2: Robot-Level Tag Structure
To Next Page
Loading...
