4 MLX200 Programming Guide
4.1 Developing a Simple Application
4-2
168542-1CD
168542-1CD
MLX200 Software and
Operations
All of this data will be populated when using the MLX-HMI Teach Screen
for teaching points. First, the desired Job number should be entered on
the top-left of the HMI. This will tell the system where in the
ApplicationData structure to store the points. The jog controls can be used
to move the robot into its desired position, and then the [Teach Position]
button will store the current TCP/Joint positions into the tag structure
based on which Position is highlighted. For example, Fig.4-1 "Teaching a
Point" shows teaching Job 2 TeachPoint 12
(i.e.ApplicationData.Job[2].TeachPoint[12]). After the point has been
taught, it can be accessed in the application logic as shown on the right
side.
Fig. 4-1: Teaching a Point
4.1.2 Accessing Taught Points From a Program
Once the desired points have been taught, they can be accessed through
the MLX200 Motion Instructions. Each motion instruction takes a single
Teach Point as input. It is often useful to create Aliases for points to
provide a more descriptive/readable application program (Fig.4-2
"Aliasing a Taught Point").
Fig. 4-2: Aliasing a Taught Point
To Next Page
Loading...
