4 MLX200 Programming Guide
4.2 Configuration Instructions
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168542-1CD
168542-1CD
MLX200 Software and
Operations
4.2 Configuration Instructions
Configuration Instructions refer to the AOIs that modify the current state of
the robot system but are not a motion command. These include:
• MLxRobotSetBasePose
• MLxRobotSetToolProperties
• MLxRobotSetUserFrame
• MLxRobotSetCubicIZ
• MLxRobotFrameShift
4.2.1 Using Configuration Instructions
The parameters for these configuration instructions can be set/saved from
the MLX-HMI (see Section 3.3.9 “Using Global Speed Scale” on page 3-
20) for more information on using the HMI). When these parameters are
saved from the HMI, they are stored at the proper location inside the
ApplicationData tag structure and will stay resident on the PLC until they
are changed. The HMI also allows for directly executing a configuration
instruction. This is useful for testing and verifying that the parameters
have been entered correctly; however, these configuration changes will be
reset if the MLX-R application is restarted or the MLX200 Control Module
is rebooted or reset. For this reason, it is recommended that all
configuration instructions related to particular application be set during
that application's initialization routines.
4.2.2 Setting Multiple Configuration Instructions
Applications will often need to set multiple configuration instructions
during initialization. These instructions can be placed on a single rung as
shown in Fig.4-15 "Multiple Configuration Instructions". However, it is
often useful to place them on different rungs just to make the program
more readable.
Fig. 4-15: Multiple Configuration Instructions
After saving new configuration data on the HMI, be sure to
upload all tags and save the RSLogix project to make sure
the data is saved inside the project file.
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