4 MLX200 Programming Guide
4.1 Developing a Simple Application
4-6
168542-1CD
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MLX200 Software and
Operations
Next, jog the robot to the desired position and switch the Coordinate
System to “User”. Once in User Mode, the TCP position reported on the
HMI will switch to User Coordinates. Now, when the [Teach Position]
button is pressed, these values relative to the User Frame will be stored in
the Teach Point data structure along with the Active User Frame Number.
When this Teach Point is passed into motion instruction with
TargetType = 1, the system will move to the position relative to the active
User Frame. Thus, the target position will change if the active User Frame
is changed.
4.1.5 USING REFERENCE POSITION VALUES
In some robots, a single TCP position (i.e. position and orientation of End-
Effector) can be met by multiple axis positions. These multiple axis
positions are often referred to as “closures” but can take other forms such
as an axis with +/- 360 degree rotations. For example, Fig. 4-8 shows a 6
axis robot with two different axis configurations that lead to the same TCP
position.
Fig. 4-8: 6-Axis Robot with Different Closures
In these cases, the MLX system must be told what the expected axis
position of the robot should be. This is done using the values inside
“Closure” variable defined for each Teach Point (e.g.
ApplicationData.Job[].TeachPoint[].TCPPosition.Closure.ReferencePositi
on). When a position is taught from the MLX HMI, these values will be
automatically filled in with the current axis position and in most
circumstances will never need to be changed. Then, when performing a
linear motion to a target TCP position (TargetType = 1), the robot will
attempt to move linearly to the target position and display an alarm if the
target axis position cannot be reached through linear motion (e.g. because
of a closure switch). This check is done to prevent unexpected motions
• The User Frame number stored in the Teach Point is
used only as a reference to the active User Frame when
the point was taught. If the User Frame number is
anything other than -1, the taught point will be converted
into the active User Frame.
• A Teach Point can be converted between World and
User coordinates using the
MLxRobotCoordinateTransform instruction.
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