3-12
168542-1CD
168542-1CD
MLX200 Software and
Operations
3 Developing with MLX200
3.3 Programming Introduction
Multiple instructions can be placed on the same rung as shown in
Fig.3-12 "Multiple Motion Instruction On". If commanding multiple motions
for the same Robot, these motions will be internally queued. Up to 25
motions can be queued (all Axis and Robots combined) in the system at
one time. See Chapter 4 "MLX200 Programming Guide" for more detailed
guide for programming the MLX200.
Fig. 3-12: Multiple Motion Instruction On
3.3.4.1 Speed, Acceleration, Jerk Parameters
Every MLX200 Motion Instruction will take parameters defining the speed,
acceleration and jerk parameters for the motion. For all axis motions (e.g.
MLxRobotMoveAxisAbsolute) parameters are defined in % of maximum.
For linear motions, the acceleration and jerk parameters are always
defined in % of maximum while the Speed can be defined by % of
maximum or in absolute values (mm/sec) depending on the SpeedUnits
parameter (0 = % maximum, 1 = absolute). For a full list of parameters for
each instruction, refer to Appendix A "".
3.3.4.2 Trajectory Shape
The Trajectory Shape parameter allows a user to define the shape of the
velocity profile. The valid values are:
• 0, Trapezoidal Profile - in this profile, the acceleration and
deceleration are constant values during the ramp-up and ramp-down
portion of the motion. This provides the fastest motion possible, but
is also the least smooth profile. This profile should be used in time-
critical applications where the inertia/load of the system is low
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