4 MLX200 Programming Guide
4.2 Configuration Instructions
4-14
168542-1CD
168542-1CD
MLX200 Software and
Operations
This error can be removed by placing the SetTool as the first command on
the ladder rung as shown in Fig.4-18 "Correct Usage of Linear Motion with
Tool Change". In this case, the new Tool Pose will become active before
the Linear Motions are added to the motion queue. Alternatively, this
SetTool could be placed on its own ladder rung and the next step triggered
off of its STS_DN bit.
Fig. 4-18: Correct Usage of Linear Motion with Tool Change
The other instructions (e.g. setting User Frames or Frame
Shifts) can be performed while the robot is executing as
they will only apply to motions queued afterwards. Thus,
these commands can be placed in-between motion
instructions.
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