3 Developing with MLX200
3.2 Instruction Overview
3-7
168542-1CD
168542-1CD
MLX200 Software and
Operations
3.2 Instruction Overview
This section provides an overview of the MLX200 instructions and a brief
description of each one. The first section describes system level
instructions for changing system state, retrieving error messages, etc.
Then, the Robot-specific Configuration and Motion instructions are
described. More detailed descriptions of these instructions can be found in
Appendix A.
3.2.1 System Commands
Table 3-1 lists the system commands available in MLX200. The interaction
between the state instructions (MLxAbort, MLxReset, etc) and the state of
the system is shown in Fig. 3-7 "State Management with MLX200
Instructions" on page 3-7.
Table 3-1: MLX200 System Commands
Fig. 3-7: State Management with MLX200 Instructions
AOI Name AOI Description
MLxEnable Enable all configured drives
MLxAbort Abort all configured drives (controlled stop followed
by servo off)
MLxStop Stop all configured drives (controlled stop with servos
staying on) and clear the motion queue
MLxHold Stop all configured drives (Control Module stop with
servos staying on) while maintaining the motion
queue
MLxRestart Restart the system along current path and motion
queue from the Held state
MLxReset Reset faults on all configured drives and clears
motion queue
MLxResetAndHold Reset faults on all configured drives while maintaining
motion queue
MLxGetErrorDetail Retrieve detailed error message from system
MLxGetModuleInfo Retrieve information on the MLX200 Control Module
configuration
MLxReadDigitalInput Read digital input state on single axis
MLxWriteDigitalOutput Write digital output state on single axis
MLxSetGlobalParameter Set a global parameter for MLX.
Valid values: 0 - Global Speed Scale.
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