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168542-1CD
MLX200 Software and
Operations
4 MLX200 Programming Guide
4.1 Developing a Simple Application
where the robot will end up at an axis configuration that is different from
the position when the user taught the point.
For systems where the TCP Positions are calculated from outside sources
such as camera systems, an all-zero Reference Position may be passed
to allow MLX to determine the best solution. This will provide a good
solution when one is available, but in certain applications it may be
desirable to force a Reference Axis position check to prevent undesired
behavior (e.g. interference with objects or cabling). The following sections
will detail several example of using this variable in different scenarios.
4.1.5.1 Example 1: 6-Axis Robot
Consider a 6-Axis robot in one of the positions introduced before
(Fig. 4-9). When the robot is jogged to this position and the Teach Position
button is pressed from the MLX HMI, the TCP Position and Reference
Position of the robot is automatically stored as shown below. Thus, by
default, these positions should match.
Fig. 4-9: Closure Example
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