3 Developing with MLX200
3.3 Programming Introduction
3-19
168542-1CD
168542-1CD
MLX200 Software and
Operations
3.3.9 Using Global Speed Scale
The MLxSetGlobalParameter instruction can be used to set a global
speed scale for the system by passing ParameterType=0 and
ParameterValue= (% maximum, 5-100). After this instruction is executed,
all subsequently queued motions will be slowed by the defined percentage
(e.g. if ParameterValue = 50, all motions will be performed at half speed).
This is useful to lower speeds for debugging an application or to reduce
speeds at a running application based on some input such as a light
curtain. Note that this instruction will only affect motions that are queued
after the instruction has completed. We recommend calling MLxHold-
>MLxSetGlobalParameter->MLxRestart to slow down current motions.
This will stop the current motions and then restart them at lower speeds.
You can also use the Robot Info HMI screen to change the Speed Scale.
When pressing the “Update Speed Scale” button, an MLxHold-
>MLxSetGlobalParameter->MLxRestart sequence executes
automatically.
Fig. 3-18: MLxSetGlobal Parameter Instruction
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