3 Developing with MLX200
3.3 Programming Introduction
3-15
168542-1CD
168542-1CD
MLX200 Software and
Operations
Fig. 3-14: Robot Cell with Coordinate Frames
Fig. 3-15: Robot Frame vs. World Frame
• Tool Frame - is a frame attached to a given tool (defaulting to the
tool plate). This is useful for defining motions (jogging, incremental
motions) relative to the tool axes. For example, a user may wish to
move a drill relative to the drilling axis regardless of its location/
orientation in the world frame. Tool frame is defined relative to the
tool plate of the robot arm. For example, Fig.3-16 "Changing TCP
after Set Tool Command" shows setting a Tool Pose of
[0,0,250,45,0,0]. The Tool Pose can be changed either through the
{Tool} Screen on the MLX-HMI or through the MLxSetToolProperties
instruction.
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