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168542-1CD
MLX200 Software and
Operations
3 Developing with MLX200
3.1 MLX200 Tag Structures
3.1.3 Axis-level Tag Structure
Each individual robot axis data contains the following information:
• AxisName - name of the Axis in the format “[RobotName]-Axis[n]”.
• ConfigurationData - contains properties of the axis kinematics such
as position, velocity, and acceleration limits.
• ServoData - contains properties of the servo drive such as Pulse
(Encoder Counts) Per Position Unit and maximum allowed following
error.
• Feedback - contains real-time feedback of Commanded position as
well as one user-defined feedback data type. By default, the user-
defined feedback data will be Actual (HW) Position - use the
MLxSetRobotProperties instruction to change this data type.
Fig. 3-3: Axis-level Tag Structure.
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