YASKAWA Motoman MLX200 - Default Chapter; Table of Contents

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168542-1CD
168542-1CD
MLX200 Software and
Operations
Table of Contents
Table of Contents
1 Introduction ..................................................................................................................................... 1-1
1.1 Requirements .................................................................................................................... 1-1
1.1.1 Rockwell Automation PAC/PLC requirements for the MLX200: ........................... 1-1
1.1.2 RSLogix 5000 files included with the MLX200 Control Module: ........................... 1-2
1.2 System Layout for the MLX200 Control Module ................................................................ 1-2
1.3 Customer Support Information........................................................................................... 1-3
2 System Configuration...................................................................................................................... 2-5
2.1 MLX200 Control Module.................................................................................................... 2-5
2.2 Configuring RSLogix Project.............................................................................................. 2-7
2.2.1 Pre-Configured RSLogix Projects......................................................................... 2-7
2.2.1.1 Configuring the Logix Controller.............................................................. 2-7
2.2.1.2 Configuring an MLX200 Control Module Communication ....................... 2-8
2.2.2 Importing MLX200 into Existing Project................................................................ 2-9
2.2.2.1 Import MLX200 AOIS AND UDTS........................................................... 2-9
2.2.2.2 Creating the MLX200 Communications Task........................................ 2-10
2.2.2.3 Adding an MLX200 Control Module to the I/O Configuration ................ 2-11
3 Developing with MLX200 ................................................................................................................ 3-1
3.1 MLX200 Tag Structures.....................................................................................................3-2
3.1.1 MLx-Level Tag Structure ...................................................................................... 3-2
3.1.2 Robot-Level Tag Structure ................................................................................... 3-3
3.1.3 Axis-level Tag Structure ....................................................................................... 3-4
3.1.4 Application Data Tag Structure............................................................................. 3-5
3.2 Instruction Overview .......................................................................................................... 3-7
3.2.1 System Commands .............................................................................................. 3-7
3.2.2 Robot Commands................................................................................................. 3-8
3.3 Programming Introduction ................................................................................................. 3-9
3.3.1 Task Scheduling ................................................................................................... 3-9
3.3.2 Instruction Execution and Status Bits ................................................................... 3-9
3.3.3 State Management and Configuration Instructions ............................................ 3-10
3.3.4 Motion Instructions ............................................................................................. 3-11
3.3.4.1 Speed, Acceleration, Jerk Parameters.................................................. 3-12
3.3.4.2 Trajectory Shape ................................................................................... 3-12
3.3.4.3 Blend Factor .......................................................................................... 3-13
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