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168542-1CD
MLX200 Software and
Operations
3 Developing with MLX200
3.2 Instruction Overview
3.2.2 Robot Commands
The MLX200 Robot commands are used to move and configure robots. All
of these commands start with the prefix “MLxRobot” and are divided here
into Configuration Commands (Table 3-2 "MLX200 Robot Configuration
Instructions") and Motion Commands (Table 3-3 "MLX200 Robot Motion
Instructions").
Table 3-2: MLX200 Robot Configuration Instructions
Table 3-3: MLX200 Robot Motion Instructions
AOI Name AOI Description
MLxRobotCoordinateTransform Transform Robot Axis Positions to TCP
Positions (and vice versa) and convert
TCP position between World and User
MLxRobotGetProperties Read the configured parameters (limits,
speeds, accel/decel) for robot
MLxRobotSetProperties Set the base position of the robot relative
to the World Frame
MLxRobotSetBasePose Set the Tool Offset for the TCP position
of the robot
MLxRobotSetToolPose Set the active user frame for the robot
MLxRobotSetUserFrame Set the active user frame for the robot by
supplying Origin, XX, and XY positions
MLxRobotSetUserFrameByPoints Set a constant offset to be used on target
position
MLxRobotSetFrameShift Set the current robot position to the
home position
MLxRobotSetHomeToCurrent Define a Cubic Interference Zone with a
center point and dimensions
MLxRobotSetCubicIZByCenterPoint Define a Cubic Interference Zone by
providing two cube corners
MLxRobotSetCubicIZByTwoCorners Write digital output state on single axis
MLxRobotCollisionDetection Turn on/off and configure Collision
Detection
AOI Name AOI Description
MLxRobotMoveAxisAbsolute Move robot to target absolute position
using PTP motion
MLxRobotMoveAxisRelative Move robot to relative position using PTP
motion
MLxRobotMoveLinearAbsolute Move robot to target absolute TCP
position using linear motion
MLxRobotMoveLinearRelative Move robot to relative TCP position using
linear motion
MLxRobotMoveCircular Move robot through two target positions
using a circular motion
MLxRobotJogAxes Jog the individual axes of the robot
MLxRobotJogTCP Jog the TCP position of the robot
MLxRobotJogAxesToPoint Jog the individual axes of the robot to a
target position
MLxRobotJogTCPToPoint Jog the TCP of the robot to the target
position.
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