4-9
168542-1CD
168542-1CD
MLX200 Software and
Operations
4 MLX200 Programming Guide
4.1 Developing a Simple Application
However, if the final axis position is not required to be met, a user may put
an all-zero value into the Reference Position variable to tell the MLX
system to ignore final axis position mismatch. In this case, the motion will
be executed and the robot will reach the final position shown in Fig. 4-10.
Note that the TCP position of the robot matches the TCP position of the
target position in Fig. 4-12; however, the resulting axis position is different.
Fig. 4-12: Final Position with Zero Reference Position
• If it is necessary to reach the Reference Position, an
MLxRobotMoveAxis command or a JogToPoint in Axis
mode can be used.
• Some closure switches can be reached through a linear
motion. MLX will only display an alarm if the closure
switch cannot be reached.
• If the X,Y,Z,Rx,Ry,Rz values of a teach point are
manually changed/tweaked, it is possible (though
unlikely) for the closure to switch. In this case, it is a
good practice to “reteach” the position after tweaking the
value to get the TCP and Reference Axis Position to
match.
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