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168542-1CD
MLX200 Software and
Operations
4 MLX200 Programming Guide
4.2 Configuration Instructions
4.2.3 Using Configuration Instructions with Motions
The above sections have described how to set up Configuration
Instructions during your application initialization code. However, these
instructions are often required during the actual job execution (e.g. to
change the Tool Pose after picking up an object). Thus, it is important to
understand how these instructions interact. The main difference between
Motion Instructions and Configuration Instructions is that the Motion
Instructions are added to a motion queue whereas the Configuration
Instructions are executed as soon as they are scanned. Thus, in the
example code shown in Fig.4-16 "Incorrect usage of Linear Motion and
MLx Robot Set Tool Properties combined", the first Linear Motion will be
added to the motion queue and will begin executing. Then, as soon as the
SetTool is scanned, the Tool Pose of the robot will instantly change. To
prevent these Configuration Instructions from causing a change to the
robot's position while executing a motion, MLX200 will display the error
shown in Fig.4-17 "Configuration Instruction Execution Error" in this
instance. The following Configuration Instruction commands will produce a
similar alarm if placed between Motion Instructions:
• MLxRobotSetToolProperties
• MLxRobotSetBasePose
• MLxRobotSetCubicIZByTwoCorners
• MLxRobotSetCubicIZByCenterPoint
• MLxRobotSetProperties
Fig. 4-16: Incorrect usage of Linear Motion and MLx Robot Set Tool Properties combined
Fig. 4-17: Configuration Instruction Execution Error
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