3-10
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MLX200 Software and
Operations
3 Developing with MLX200
3.3 Programming Introduction
• Sts_AC - Turns on when motion begins executing and off when
motion completes
• Sts_PC - Turns on when motion execution is complete
• Sts_ER - Turns on if the instruction causes an error
Fig.3-9 "MLX200 Motion Instruction Execution" shows a detailed timeline
of the status bit behavior throughout the lifecycle of a motion instruction.
Fig. 3-9: MLX200 Motion Instruction Execution
1)
3.3.3 State Management and Configuration Instructions
State management and configuration instructions can be executed on a
rung of ladder with the “.Sts_DN” bit used to determine when the
instruction has been completed. For example, consider the rung of ladder
shown in Fig.3-10 "Example State Management Instruction". A single bit
called “triggerEnable” is used to execute the instruction and a control
variable of name “enableServos” is passed into the MLxEnable
instruction. Then, the enableServos.Sts_DN bit is checked to determine
that the execution has completed.
Fig. 3-10: Example State Management Instruction
1 Note: Fig.3-9 "MLX200 Motion Instruction Execution" describes the behavior of
the status bits when the rung is enabled until it is disabled. The Sts_PC will
remain on after the rung is disabled until the next time the rung is enabled.
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