Page 1 MLX200 SOFTWARE AND OPERATION USERS MANUAL VERSION 2.0 Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN- INSTRUCTIONS MLX200 HARDWARE INSTALLATION AND SOFTWARE UPGRADE Part Number: 168542-1CD Revision: 1 of 206...
Page 2 CONFIDENTIAL AND PROPRIETARY. Copyright ©2009, 2015 Yaskawa and its licensor's. This software code contains proprietary trade secrets of Yaskawa Innovation Inc. and its licensor’s and is also protected by U.S. and other copyright laws and applicable international treaties. Any use compilation, modification, distribution, reproduction, performance, display, or disclosure (“Use”) of this software CD is subject to the terms and...
Page 3 If such modification is made, the manual number will also be revised. • If your copy of the manual is damaged or lost, contact a YASKAWA representative to order a new copy. The representatives are listed on the back cover. Be sure to tell the representative the manual number listed on the front cover.
Page 4 ALLOW UNTRAINED PERSONNEL TO OPERATE, PROGRAM, OR REPAIR THE EQUIPMENT! We recommend approved Yaskawa training courses for all personnel involved with the operation, programming, or repair of the equipment. This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to part 15 of the FCC rules.
Page 5 168542-1CD MLX200 Software and Operations Notes for Safe Operation Read this manual carefully before installation, operation, maintenance, or inspection of the MLX200. In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”. Indicates a potentially hazardous situation which, if not avoided, could WARNING result in death or serious injury to...
Page 6 168542-1CD MLX200 Software and Operations WARNING • Confirm that no person is present in the P-point maximum envelope of the manipulator and that you are in a safe location before: - Turning ON the MLX200 Control Module power - Moving the manipulator with programming pendant or MLX200 Control Module HMI - Running the system in the check mode - Performing automatic operations...
Page 7 Read and understand the Explanation of the Warning Labels before operating the manipulator. Definition of Terms Used Often in This Manual The MOTOMAN is the YASKAWA industrial robot product. The MOTOMAN usually consists of the manipulator, a control module, a programming pendant, and supply cables.
Page 8 168542-1CD MLX200 Software and Operations Description of the Operation Procedure In the explanation of the operation procedure, the expression “Select • • • “ mns that the cursor is moved to the object item and the SELECT key is pressed, or that the item is directly selected by touching the screen. Registered Trademark In this manual, names of companies, corporations, or products are trademarks, registered trademarks, or brand names for each company or...
Page 9: Table Of Contents
168542-1CD MLX200 Software and Table of Contents Operations 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 ..............
Page 10 168542-1CD MLX200 Software and Table of Contents Operations 3.3.5 Coordinate Frames Relevant to Robotics............3-14 3.3.6 Jogging Motions....................3-16 3.3.7 Error Messages ....................3-17 3.3.8 Stopping and Recovering Robot Motion ............. 3-17 3.3.8.1 Aborted Motions ..................3-18 3.3.8.2 Stopped Motions ................... 3-18 3.3.9 Using Global Speed Scale..................
Page 11 168542-1CD MLX200 Software and Table of Contents Operations 4.2 Configuration Instructions ....................4-12 4.2.1 Using Configuration Instructions................. 4-12 4.2.2 Setting Multiple Configuration Instructions ............4-12 4.2.3 Using Configuration Instructions with Motions............ 4-13 4.3 Using Blend Factors ......................4-15 4.3.1 PC Bit Triggering ....................4-15 4.3.2 Sequential Motion Instructions ................
Page 12 168542-1CD MLX200 Software and Table of Contents Operations 6.6.5 Debugging Pickup Position Errors ..............6-12 6.6.5.1 Part is Gripped at Different Locations on Part ........6-12 6.6.5.2 Part is Gripped Consistently at the Wrong Location on the Part ... 6-13 6.7 Developing a Conveyor Tracking Application ..............
Page 13 168542-1CD MLX200 Software and Table of Contents Operations A.1.7 MLxStop .......................A-7 A.1.8 MLxRobotMoveAxisAbsolute ................A-8 A.1.9 MLxRobotMoveAxisRelative ................A-10 A.1.10 MLxRobotMoveLinearAbsolute ................A-12 A.1.11 MLxRobotMoveLinearRelative .................A-14 A.1.12 MLxRobotMoveCircular..................A-16 A.1.13 MLxRobotJogAxes ...................A-18 A.1.14 MLxRobotJogAxesToPoint................A-19 A.1.15 MLXRobotJogTCP ...................A-20 A.1.16 MLxRobotJogTCPToPoint ................A-22 A.1.17 MLxRobotCoordinateTransform...............A-23 A.1.18 MLxRobotSetBasePose ...................A-24 A.1.19 MLxRobotSetCubicIZByCenterPoint..............A-25 A.1.20 MLxRobotSetCubicIZByTwoCorners ...............A-26 A.1.21 MLxRobotSetFrameShift..................A-27...
Page 14 168542-1CD MLX200 Software and Table of Contents Operations Appendix C ............................C-1 MLX200 Control Module Error Code List ................ C-1 Appendix D ............................D-1 3rd Party Software Licenses Usage ................D-1 14 of 206 168542-1CD...
Page 15: Introduction
1.1 Requirements Operations Introduction The MLX200 Control Module from Yaskawa provides an easy way to develop PLC-based robotic solutions. Programming of the MLX200 is performed entirely using RSLogix 5000 from Rockwell Automation through the use of a set of RSLogix 5000 Add-on Instructions (AOIs) for Robot Motion and Configuration.
Page 16: Rslogix 5000 Files Included With The Mlx200 Control Module
168542-1CD MLX200 Software and Introduction Operations 1.2 System Layout for the MLX200 Control Module 1.1.2 RSLogix 5000 files included with the MLX200 Control Module: • MLX200_ControlLogix.ACD - preconfigured project for use with ControlLogix systems • MLX200_CompactLogix.ACD - preconfigured project for use with CompactLogix systems •...
Page 17: Customer Support Information
Operations please contact Yaskawa Motoman Customer Support at the following 24-hour telephone number: (937) 847-3200 For routine technical inquiries, you can also contact Yaskawa Motoman Customer Support at the following e-mail address: techsupport@motoman.com When using e-mail to contact Yaskawa Motoman Customer Support, please provide a detailed description of your issue, along with complete contact information.
Page 18 168542-1CD MLX200 Software and Introduction Operations 1.3 Customer Support Information Please have the following information ready before you call: • System MLX200 • Robots • Positioner • Primary Application Access this information on the Status • Software Version Display screen of the MLX200 Control Module.
Page 19: System Configuration
168542-1CD MLX200 Software and System Configuration 2.1 MLX200 Control Module Operations System Configuration This section of the guide will provide simple steps for connecting and configuring each component in the MLX200 system. MLX200 Control Module The MLX200 Control Module will come attached to the MLX200 Drive Panel.
Page 20 168542-1CD MLX200 Software and System Configuration Operations 2.1 MLX200 Control Module Table 2-1: MLX200 Control Module LED Indicators Color State Meaning Power None Power not connected to MLX200 Control Button Module Solid Power connected, but MLX200 Control Module is turned off. Blue Solid Power connected MLX200 Control Module...
Page 21: Configuring Rslogix Project
168542-1CD MLX200 Software and System Configuration 2.2 Configuring RSLogix Project Operations Configuring RSLogix Project Once an MLX200 system has been connected, the next step is to start programming it from RSLogix 5000. This section describes how to setup an RSLogix project for MLX200 application development. There are two main methods for doing this: •...
Page 22: Configuring An Mlx200 Control Module Communication
168542-1CD MLX200 Software and System Configuration Operations 2.2 Configuring RSLogix Project 2.2.1.2 Configuring an MLX200 Control Module Communication If using ControlLogix, open the I/O Configuration in the Control Module Organizer and verify that the correct chassis slot is selected for both the ControlLogix module and the EtherNet/IP module.
Page 23: Importing Mlx200 Into Existing Project
168542-1CD MLX200 Software and System Configuration 2.2 Configuring RSLogix Project Operations 2.2.2 Importing MLX200 into Existing Project This section will describe how to import a MLX200 into a new or existing RS Logix project. If using a pre-configured project as described in Section 2.2.1 “Pre-Configured RSLogix Projects”...
Page 24: Creating The Mlx200 Communications Task
168542-1CD MLX200 Software and System Configuration Operations 2.2 Configuring RSLogix Project 2.2.2.2 Creating the MLX200 Communications Task Create a MLX200 communications task. Right-click on Tasks and select “New Task”. Set the Type as Periodic, the Period to 2 ms, and the Priority to 1.
Page 25: Adding An Mlx200 Control Module To The I/O Configuration
168542-1CD MLX200 Software and System Configuration 2.2 Configuring RSLogix Project Operations 2.2.2.3 Adding an MLX200 Control Module to the I/O Configuration Next, the EtherNet/IP communications must be configured. If using ControlLogix, first verify that the 1756 ENBT card is added to the I/O Configuration at the correct slot.
Page 26 168542-1CD MLX200 Software and System Configuration Operations 2.2 Configuring RSLogix Project Fig. 2-10: Ethernet Module Connection Settings If using the MLX-HMI, refer to Section 3.4 “MLX-HMI” on NOTE page 3-20 for instructions on HMI configuration. 26 of 206 2-12 168542-1CD...
Page 27: Developing With Mlx200
168542-1CD MLX200 Software and Developing with MLX200 Operations Developing with MLX200 This section explains how to use MLX200 to develop robotics applications. The first section provides an overview of the tag structure in MLX200. The next section provides an overview of the instructions available for configuring and controlling a robot in MLX200 as well as their basic behavior.
Page 28: Mlx200 Tag Structures
168542-1CD MLX200 Software and Developing with MLX200 Operations 3.1 MLX200 Tag Structures MLX200 Tag Structures The MLX200 tag structure exists as a Control Module-scope tag labeled MLx[]. This tag structure contains information on the overall state of the system, properties of the MLX200 Robot Control Module and configuration and feedback data for individual axes and robots.
Page 29: Robot-Level Tag Structure
168542-1CD MLX200 Software and Developing with MLX200 3.1 MLX200 Tag Structures Operations 3.1.2 Robot-Level Tag Structure Each individual robot data structure contains the following information: • Name - name of the Robot defined inside the MLX200 Configuration File. • ConfigurationData - contains properties of the robot kinematics such as TCP speed and acceleration.
Page 30: Axis-Level Tag Structure
168542-1CD MLX200 Software and Developing with MLX200 Operations 3.1 MLX200 Tag Structures 3.1.3 Axis-level Tag Structure Each individual robot axis data contains the following information: • AxisName - name of the Axis in the format “[RobotName]-Axis[n]”. • ConfigurationData - contains properties of the axis kinematics such as position, velocity, and acceleration limits.
Page 31: Application Data Tag Structure
168542-1CD MLX200 Software and Developing with MLX200 3.1 MLX200 Tag Structures Operations 3.1.4 Application Data Tag Structure The Application Data structure is a Control Module-Scope structure that contains the application data (Teach Points, Tools, IZs, etc…) for a given project. The MLX200 HMI (described in Section 3-4 “MLX200 Tag Structures”...
Page 32 168542-1CD MLX200 Software and Developing with MLX200 Operations 3.1 MLX200 Tag Structures Fig. 3-5: Changing the Size of the ApplicationData.NumberOfJobs Variable Fig. 3-6: Changing Size of the MLxAppDataJob UDT If the size of these arrays/variables is changed, the HMI NOTE must be shutdown and restarted to have the changes take affect.
Page 33: Instruction Overview
168542-1CD MLX200 Software and Developing with MLX200 3.2 Instruction Overview Operations Instruction Overview This section provides an overview of the MLX200 instructions and a brief description of each one. The first section describes system level instructions for changing system state, retrieving error messages, etc. Then, the Robot-specific Configuration and Motion instructions are described.
Page 34: Robot Commands
168542-1CD MLX200 Software and Developing with MLX200 Operations 3.2 Instruction Overview 3.2.2 Robot Commands The MLX200 Robot commands are used to move and configure robots. All of these commands start with the prefix “MLxRobot” and are divided here into Configuration Commands (Table 3-2 "MLX200 Robot Configuration Instructions") and Motion Commands (Table 3-3 "MLX200 Robot Motion Instructions").
Page 35: Programming Introduction
168542-1CD MLX200 Software and Developing with MLX200 3.3 Programming Introduction Operations Programming Introduction This section goes into more detail about the method of programming using MLX200. First, the status bits and execution life cycle of the MLX200 instructions are detailed. Then, a simple programming structure that can be used to build applications is described.
Page 36: State Management And Configuration Instructions
168542-1CD MLX200 Software and Developing with MLX200 Operations 3.3 Programming Introduction • Sts_AC - Turns on when motion begins executing and off when motion completes • Sts_PC - Turns on when motion execution is complete • Sts_ER - Turns on if the instruction causes an error Fig.3-9 "MLX200 Motion Instruction Execution"...
Page 37: Motion Instructions
168542-1CD MLX200 Software and Developing with MLX200 3.3 Programming Introduction Operations The same structure can also be used to execute configuration instructions such as setting base poses or interference zones. • Configuration instructions that affect program behavior (such as base pose, tool pose, interference zone, etc) should be executed during application initialization as these values will not hold over when the MLX200 Robot Control Module is restarted.
Page 38: Speed, Acceleration, Jerk Parameters
168542-1CD MLX200 Software and Developing with MLX200 Operations 3.3 Programming Introduction Multiple instructions can be placed on the same rung as shown in Fig.3-12 "Multiple Motion Instruction On". If commanding multiple motions for the same Robot, these motions will be internally queued. Up to 25 motions can be queued (all Axis and Robots combined) in the system at one time.
Page 39: Blend Factor
168542-1CD MLX200 Software and Developing with MLX200 3.3 Programming Introduction Operations • 1, S-Curve Profile - in this profile, the acceleration profile has a sine-wave shape with the maximum acceleration being reached at its peak. This will provide a smoother ramp-up and ramp-down portions of the motion.
Page 40: Coordinate Frames Relevant To Robotics
168542-1CD MLX200 Software and Developing with MLX200 Operations 3.3 Programming Introduction Fig. 3-13: Example of Blend Factor Effect on Motion 3.3.5 Coordinate Frames Relevant to Robotics There are several coordinate frames (i.e. “frames of reference”) that are important to understand when programming a robot in a workcell. •...
Page 41 168542-1CD MLX200 Software and Developing with MLX200 3.3 Programming Introduction Operations Fig. 3-14: Robot Cell with Coordinate Frames Fig. 3-15: Robot Frame vs. World Frame • Tool Frame - is a frame attached to a given tool (defaulting to the tool plate).
Page 42: Jogging Motions
168542-1CD MLX200 Software and Developing with MLX200 Operations 3.3 Programming Introduction Fig. 3-16: Changing TCP after Set Tool Command • User Frame - is a user defined frame usually attached to some object in the workcell (for example, a pallet in Fig.3-14 "Robot Cell with Coordinate Frames").
Page 43: Error Messages
168542-1CD MLX200 Software and Developing with MLX200 3.3 Programming Introduction Operations 3.3.7 Error Messages In the case of an error, the system will abort and then report an error code to the MLx[].SystemErrorCode variable. This error code will map to the errors listed in Appendix C.
Page 44: Aborted Motions
168542-1CD MLX200 Software and Developing with MLX200 Operations 3.3 Programming Introduction CAUTION The ABORT functionality provided in the MLX-HMI and the MLxAbort instruction should not be used for emergency stopping of the robot. The [EMERGENCY STOP] button that is hardwired in to the control panel should be used for this purpose and for any safety related interlocks.
Page 45: Using Global Speed Scale
168542-1CD MLX200 Software and Developing with MLX200 3.3 Programming Introduction Operations 3.3.9 Using Global Speed Scale The MLxSetGlobalParameter instruction can be used to set a global speed scale for the system by passing ParameterType=0 and ParameterValue= (% maximum, 5-100). After this instruction is executed, all subsequently queued motions will be slowed by the defined percentage (e.g.
Page 46: Mlx-Hmi
168542-1CD MLX200 Software and Developing with MLX200 Operations 3.4 MLX-HMI MLX-HMI CAUTION When integrating the {MLX-HMI} screens into another HMI, DO NOT change any of the tags, {HMI} screens, or object layouts that are used in the MLX200 Robot {HMI} screens. Use of these screens is on an AS-IS basis.
Page 47: Importing The Mlx-Hmi Task
168542-1CD MLX200 Software and Developing with MLX200 3.4 MLX-HMI Operations 3.4.1.1 Importing the MLx-HMI Task The first step to set up the HMI is to create the MLx_HMITask inside the RSLogix Project. To do this, right-click on Tasks in the Control Module Organizer and select “New Task”.
Page 48: Importing Mlxapplicationdata
168542-1CD MLX200 Software and Developing with MLX200 Operations 3.4 MLX-HMI 3.4.1.2 Importing MLxApplicationData CAUTION Failure to match the length of the arrays with their corresponding size variable can allow an out-of-index array which will cause the Control Module to fault. See Section 3.1.4 “Application Data Tag Structure” for more information on configuring the size of the Application Data.
Page 49: Main Screen
168542-1CD MLX200 Software and Developing with MLX200 3.4 MLX-HMI Operations 3.4.2 Main Screen The {Main} screen (Fig.3-22 "MLX200 Robot HMI Main Screen") is the {Start-up} screen for the HMI. This screen contains the following components: • Indicators for when the MLX200 Control Module is initialized and connected •...
Page 50 168542-1CD MLX200 Software and Developing with MLX200 Operations 3.4 MLX-HMI The {Main} screen also displays alarm messages when alarms occur during the normal operation of the system. Fig.3-23 "Main Screen with Alarm Message display" shows an example of the {Main} screen with alarm displayed.
Page 51: Hmi Menu Selection
168542-1CD MLX200 Software and Developing with MLX200 3.4 MLX-HMI Operations 3.4.3 HMI Menu Selection The [Menu] button on the bottom left of the MLX-HMI is used to access all the screens in the HMI. The visibility of the buttons in the {Menu} screen (Fig.3-25 "MLX200 Robot HMI Menu Selection") is based on the user credentials.
Page 52 168542-1CD MLX200 Software and Developing with MLX200 Operations 3.4 MLX-HMI • Restart MLX-R - when pressed, a confirmation box will pop-up confirming that the user wants to restart MLX PLC Interface Software (MLX-R). This functionality is not part of “normal” robot operation and should only be used if the continued operation requires a restart of the MLX PLC Interface.
Page 53: Login And Security Settings
168542-1CD MLX200 Software and Developing with MLX200 3.4 MLX-HMI Operations • User Frame Screen - There are two methods for setting up user frames, by coordinate or by taught points. See Section 3.4.7 “Tool and User Frame Screens” for more information. •...
Page 54 168542-1CD MLX200 Software and Developing with MLX200 Operations 3.4 MLX-HMI Table 3-6: HMI Security-by Screen FTView Security Level Screen  About Yaskawa  Extended Event Description  Hardware Status  IZ Status  Main Screen  Menu  Main Screen Abort Button ...
Page 55 168542-1CD MLX200 Software and Developing with MLX200 3.4 MLX-HMI Operations Fig. 3-29: Main Screen and Menu Selection for the “Operator” Login Fig. 3-30: Main Screen and Menu Selection for the “Expert” Login 55 of 206 3-29 168542-1CD...
Page 56: Alarm Screen
168542-1CD MLX200 Software and Developing with MLX200 Operations 3.4 MLX-HMI 3.4.5 Alarm Screen The {Alarm} screen display more information about the current alarm (error) in the system when the error is generated. Fig. 3-31: Alarm Details Screen The Alarm details screen also allows the user to retrieve and view queued alarms.
Page 57: Teach Screen
168542-1CD MLX200 Software and Developing with MLX200 3.4 MLX-HMI Operations 3.4.6 Teach Screen The {Teach} Screen (Fig.3-33 "MLX200 Robot HMI Teach Screen") allows the user to jog the robot in a variety of methods as well as teach positions. A brief overview of the functionality on this screen: •...
Page 58: Tool And User Frame Screens
168542-1CD MLX200 Software and Developing with MLX200 Operations 3.4 MLX-HMI 3.4.7 Tool and User Frame Screens The {Tool and User Frame} screens are shown in Fig.3-34 "Tool Properties Setup Screen" and Fig.3-35 "User Frame Setup Screen". The functionality of these screens is similar: both allow the properties of the Tool and User Frame to be inputted using numerical inputs (note: the User Frame also allows the user to copy the current X,Y, and Z position of the TCP for teaching User Frames).
Page 59: Cubic Interference Zones
168542-1CD MLX200 Software and Developing with MLX200 3.4 MLX-HMI Operations 3.4.8 Cubic Interference Zones The HMI offers two screens for setting Cubic Interference Zones: one for setting a Cubic IZ by defining Two Corners (Fig.3-36 "Cubic Interference Zone Setup using 2 Corners") and one for setting a Cubic IZ using a Center Point and Dimensions (Fig.3-37 "Cubic Interference Zone Setup using Center Point").
Page 60: Robot Configuration
168542-1CD MLX200 Software and Developing with MLX200 Operations 3.4 MLX-HMI 3.4.9 Robot Configuration The {Robot Configuration} screen (Fig.3-38 "Robot Configuration Screen") is used to update some properties of the robot system. This screen interacts with the RobotConfiguration subroutine in the HMI task. The properties that can be updated are: •...
Page 61: Robot Info
168542-1CD MLX200 Software and Developing with MLX200 3.4 MLX-HMI Operations 3.4.10 Robot Info The {Robot Info} Screen is just a placeholder for displaying various properties of the robot. Currently, it displays the Robot Axis and TCP position as well as the Linear and Angular TCP limits data. There is also a control to change the Global Speed Scale for the system.
Page 62: Interference Zone Status Screen
3.4.13 Information Screen The Yaskawa {Information} Screen (Fig.3-43 "Yaskawa Information Screen") can be accessed by clicking the Yaskawa logo on the {Main} Screen. This screen contains information on the MLX Control Module IP Address and Model as well as the firmware versions.
Page 63 168542-1CD MLX200 Software and Developing with MLX200 3.4 MLX-HMI Operations Fig. 3-43: Yaskawa Information Screen 63 of 206 3-37 168542-1CD...
Page 64: Mlx200 Programming Guide
168542-1CD MLX200 Software and MLX200 Programming Guide Operations 4.1 Developing a Simple Application MLX200 Programming Guide The previous sections have introduced the MLX200 data structures, instructions, and basic HMI operation. This section will demonstrate how to use these tools to teach positions and write MLX200 applications. The method to do this is slightly different than on traditional Robot Control Modules as the program itself is not developed from the teach pendant.
Page 65: Accessing Taught Points From A Program
168542-1CD MLX200 Software and MLX200 Programming Guide 4.1 Developing a Simple Application Operations All of this data will be populated when using the MLX-HMI Teach Screen for teaching points. First, the desired Job number should be entered on the top-left of the HMI. This will tell the system where in the ApplicationData structure to store the points.
Page 66 168542-1CD MLX200 Software and MLX200 Programming Guide Operations 4.1 Developing a Simple Application A recommended method of structuring a program is shown in Fig.4-3 "Example Program Structure". In this structure, each rung of the program is given a step number. When this step is active, the motion instruction will be sent.
Page 67: Operating A User Application From Hmi
168542-1CD MLX200 Software and MLX200 Programming Guide 4.1 Developing a Simple Application Operations 4.1.3 OPERATING A USER APPLICATION FROM HMI After writing an application, it is often desirable to start and stop the application from the provided MLX HMI. To do this, the Main Screen has a “Start”...
Page 68: Teaching Points In User Frames
168542-1CD MLX200 Software and MLX200 Programming Guide Operations 4.1 Developing a Simple Application These buttons along with the UserStepAndContinue variable can be used to step through an application program by writing the application as shown in Fig.4-6 "UserProgramStepContinue Functionality in Application Logic". Here, the application will only move to the next step if the UserStepAndContinue variable is turned on.
Page 69: Using Reference Position Values
168542-1CD MLX200 Software and MLX200 Programming Guide 4.1 Developing a Simple Application Operations Next, jog the robot to the desired position and switch the Coordinate System to “User”. Once in User Mode, the TCP position reported on the HMI will switch to User Coordinates. Now, when the [Teach Position] button is pressed, these values relative to the User Frame will be stored in the Teach Point data structure along with the Active User Frame Number.
Page 70: Example 1: 6-Axis Robot
168542-1CD MLX200 Software and MLX200 Programming Guide Operations 4.1 Developing a Simple Application where the robot will end up at an axis configuration that is different from the position when the user taught the point. For systems where the TCP Positions are calculated from outside sources such as camera systems, an all-zero Reference Position may be passed to allow MLX to determine the best solution.
Page 71 168542-1CD MLX200 Software and MLX200 Programming Guide 4.1 Developing a Simple Application Operations Next, suppose you want to command a linear motion to this position (either from the MLxRobotMoveLinear commands or by using JogToPoint from the HMI) from the initial positions shown in Fig. 4-10. Because there is a change in the elbow closure for this robot, this motion is not possible and you will see an error message similar to the one shown in Fig.
Page 72 168542-1CD MLX200 Software and MLX200 Programming Guide Operations 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.
Page 73: Example 2: 4-Axis Palletizing Robot
168542-1CD MLX200 Software and MLX200 Programming Guide 4.1 Developing a Simple Application Operations 4.1.5.2 Example 2: 4-Axis Palletizing Robot While the 4-Axis Palletizing robots do not have different closures within their work-spaces, they do have a +/- 360 degree range on their T-Axis which can lead to multiple axis solutions.
Page 74 168542-1CD MLX200 Software and MLX200 Programming Guide Operations 4.1 Developing a Simple Application 4.1.5.3 Summary The following table provides a brief summary of how MLX will use the Reference Position in different scenarios. Here are some basic guidelines for using the Reference Position variables: •...
Page 75: Configuration Instructions
168542-1CD MLX200 Software and MLX200 Programming Guide 4.2 Configuration Instructions Operations 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 •...
Page 76: Using Configuration Instructions With Motions
168542-1CD MLX200 Software and MLX200 Programming Guide Operations 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).
Page 77 168542-1CD MLX200 Software and MLX200 Programming Guide 4.2 Configuration Instructions 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.
Page 78: Using Blend Factors
168542-1CD MLX200 Software and MLX200 Programming Guide Operations 4.3 Using Blend Factors Using Blend Factors 4.3.1 PC Bit Triggering As mentioned in the previous section, the simplest way to write an MLX200 program is to use the motion instruction PC bit to trigger the next motion.
Page 79 168542-1CD MLX200 Software and MLX200 Programming Guide 4.3 Using Blend Factors Operations Fig. 4-20: Sequential Linear Motions with Blend Factor Fig. 4-21: Parallel Axis Motion Instructions 79 of 206 4-16 168542-1CD...
Page 80 168542-1CD MLX200 Software and MLX200 Programming Guide Operations 4.3 Using Blend Factors Multiple motion instructions of different types can also be placed on the same rung of ladder as shown in Fig.4-22 "Sequential Axis and Linear Motions". In this case, 2 Axis Motions and 2 Linear Motions will be queued, and the Axis Motion will blend into the Linear Motion using PTP (axis) interpolation.
Page 81: Programming Pitfalls And Best Practices
168542-1CD MLX200 Software and MLX200 Programming Guide 4.4 Programming Pitfalls and Best Practices Operations Programming Pitfalls and Best Practices This section will describe some potential problems and issues that can be encountered by incorrect use of the MLX200 instructions. 4.4.1 Incomplete AOI Executions To understand the potential pitfalls and problems that can come from programming in MLX200, a good understanding of the basic life-cycle of a motion instruction (AOI) is necessary.
Page 82 168542-1CD MLX200 Software and MLX200 Programming Guide Operations 4.4 Programming Pitfalls and Best Practices Fig. 4-23: Motion Instruction Triggered from an I/O Signal Incorrectly Fig. 4-24: Motion Instruction Trigger from an I/O Signal Correct 82 of 206 4-19 168542-1CD...
Page 83: Dn Bit Checking
168542-1CD MLX200 Software and MLX200 Programming Guide 4.4 Programming Pitfalls and Best Practices Operations 4.4.2 DN BIT Checking CAUTION It is recommended that application logic is written based on the Sts_PC bit. If using the Sts_DN bit, read this section carefully to be informed on possible issues.
Page 84: Reused Control Variables
168542-1CD MLX200 Software and MLX200 Programming Guide Operations 4.4 Programming Pitfalls and Best Practices Fig. 4-26: Motion Queue Full Error 4.4.3 Reused Control Variables Another potential problem comes from reusing the control variables for an AOI. For example, if you are triggering an MLxRobotMoveAxisAbsolute using the control variable moveAbs[0], this variable cannot be used anywhere else even if it is on a rung that is never active.
Page 85: Task Overlaps And Cpu Load
168542-1CD MLX200 Software and MLX200 Programming Guide 4.4 Programming Pitfalls and Best Practices Operations 4.4.4 Task Overlaps and CPU Load MLX200 is designed to run on a variety of CompactLogix and ControlLogix platforms including several older models/processors. On some systems, the RSLogix application can become unresponsive if application tasks (either MLX or other tasks) are taking up too much of the CPU Load.
Page 86: Collision Detection
168542-1CD MLX200 Software and Collision Detection Operations 5.1 Collision Detection Overview Collision Detection Collision Detection Overview CAUTION This function does not completely avoid damage to the peripheral devices; moreover, it does not guarantee the user's safety. • Make sure to prepare safety measures such as safeguarding, etc. Failure to observe this caution may result in damage to machinery caused by contact with the manipulator.
Page 87 168542-1CD MLX200 Software and Collision Detection 5.1 Collision Detection Overview Operations The following section will describe how to configure Collision Data from the MLX HMI (Section5.2) and how to use the MLxRobotCollisionDetection instruction (Section 5.3). • It is also possible to use multiple calls to MLxRobotCollisionDetection inside a single application to change the Collision Detection behavior during different NOTE...
Page 88: Configuring Collision Detection From The Hmi
168542-1CD MLX200 Software and Collision Detection Operations 5.2 Configuring Collision Detection from the HMI Configuring Collision Detection from the HMI Fig. 5-1 shows the main {Collision Detection Configuration} screen. This screen has buttons for starting/stopping Measurement Mode as well as displays the current Measured and Allowable Torque Disturbance values.
Page 89 168542-1CD MLX200 Software and Collision Detection 5.2 Configuring Collision Detection from the HMI Operations CAUTION To get accurate data during Measurement Mode, the tool load must be entered and activated from either the {Tool Properties HMI} screen or the MLxRobotSetToolProperties instruction. CAUTION Tool Load must not exceed rated values for the robot.
Page 90 168542-1CD MLX200 Software and Collision Detection Operations 5.2 Configuring Collision Detection from the HMI After starting Measurement Mode, the [Start Measurement Mode] button will be grayed out and the “CD Status” indicator on the right part of the screen will update to display “Measurement Mode” as shown in Fig. 5-3. While the application is executing, the numerical values under the “Measured Max Torque Disturbance”...
Page 91 168542-1CD MLX200 Software and Collision Detection 5.2 Configuring Collision Detection from the HMI Operations Fig. 5-4: Set Allowable Torque Disturbance Values Fig. 5-5: Collision Detection Application Data 91 of 206 168542-1CD...
Page 92 168542-1CD MLX200 Software and Collision Detection Operations 5.2 Configuring Collision Detection from the HMI After starting Collision Detection, there will be three changes to the HMI screen: 1. The CD Status will change to “Execution Mode” 2. The “Active File” will be updated to display the current Collision File being executed.
Page 93 168542-1CD MLX200 Software and Collision Detection 5.2 Configuring Collision Detection from the HMI Operations Now, any time the system detects a collision, the system will abort. Fig. 5-7 shows the Collision Detection Screen in the case of a collision, and Fig.
Page 94: Using The Mlxrobotcollisiondetection Instruction
168542-1CD MLX200 Software and Collision Detection Operations 5.3 Using the MLxRobotCollisionDetection Instruction Using the MLxRobotCollisionDetection Instruction The previous section described how to configure Collision Detection from the MLX HMI, and this is the recommended method for initially configuring Collision Detection. However, after initial configuration, it is useful to change Collision Detection behavior from the application code itself.
Page 95: Initializing Collision Detection From Application
168542-1CD MLX200 Software and Collision Detection 5.3 Using the MLxRobotCollisionDetection Instruction Operations 5.3.1 Initializing Collision Detection from Application CAUTION Collision Detection settings are not retained on the MLX200 Control Module and can be lost if power is cycled or the MLX PLC Interface Application is restarted.
Page 96: Measuring Collision Detection From Application
168542-1CD MLX200 Software and Collision Detection Operations 5.3 Using the MLxRobotCollisionDetection Instruction 5.3.2 Measuring Collision Detection from Application CAUTION • To get accurate data during Measurement Mode, the tool load must be entered and activated from either the Tool Properties HMI screen or the MLxRobotSetToolProperties instruction.
Page 97: Changing Collision Detection Behavior During Application
168542-1CD MLX200 Software and Collision Detection 5.3 Using the MLxRobotCollisionDetection Instruction Operations 5.3.3 Changing Collision Detection Behavior during Application Another potential use of Collision Detection is to change the behavior based on certain parts of the application cycle. For example, it might be useful to use a different Collision File for Pick/Place operations than for general transfer motions.
Page 98 168542-1CD MLX200 Software and Collision Detection Operations 5.3 Using the MLxRobotCollisionDetection Instruction This can be expanded for more complicated application scenarios as well. For example, consider the simple picking sequence shown in Fig. 5-13. The robot moves from P1 to an approach point at P2 and then to a pick location at P3.
Page 99: Conveyor Tracking
168542-1CD MLX200 Software and Conveyor Tracking 6.1 Conveyor Tracking Overview Operations Conveyor Tracking This section describes the configuration and use of the MLX200 Conveyor Tracking feature. The AOIs and other functionality listed in this section are only available if the Conveyor Tracking option has been purchased and is enabled in the MLX200 license file.
Page 100 168542-1CD MLX200 Software and Conveyor Tracking Operations 6.1 Conveyor Tracking Overview Referring to the example in Fig.6-2 "Robot Taught Positions with Conveyor Off", the conveyor is stopped with the part at a known distance from the photo eye. Seven points are taught near the part. The move commands to points P2-P6 will be placed in the job in between the MLxRobotConvSyncStart and MLxRobotConvSyncStop AOIs.
Page 101: Conveyor Tracking Requirements
168542-1CD MLX200 Software and Conveyor Tracking 6.2 Conveyor Tracking Requirements Operations Conveyor Tracking Requirements At a high level, a customer requires four things to setup conveyor tracking. These are: 1. A conveyor. 2. An incremental encoder that is mounted to the conveyor for reading conveyor position.
Page 102: Configuring Conveyor Tracking
168542-1CD MLX200 Software and Conveyor Tracking Operations 6.3 Configuring Conveyor Tracking Configuring Conveyor Tracking WARNING Failure to set up the Conveyor Tags correctly can lead to unexpected behavior during conveyor tracking. To run Conveyor Tracking, the MLX Conveyor Task will need to be imported and then scheduled inside the MLX_Task.
Page 103 168542-1CD MLX200 Software and Conveyor Tracking 6.3 Configuring Conveyor Tracking Operations Tag Name Input/ Description Output Conveyor0_CurrentValue Input This should contain the current position of the conveyor in encoder counts. Conveyor0_LatchedValue Input This should contain the current latched position of the conveyor. When a new object passes the camera eye, this position will be stored until the ResetNewData flag is...
Page 104: 1756-Hsc Counter Card Configuration
168542-1CD MLX200 Software and Conveyor Tracking Operations 6.4 1756-HSC Counter Card Configuration 1756-HSC Counter Card Configuration This section will describe how to set up the Rockwell Automation High Speed Counter card (1756-HSC) and the conveyor. 6.4.1 Wiring the 1756-HSC The HSC card can be configured in several different ways. Each HSC card supports two independent counters.
Page 105: Linking The Conveyor Tags For A 1756-Hsc
168542-1CD MLX200 Software and Conveyor Tracking 6.4 1756-HSC Counter Card Configuration Operations Then, right-click on the HSC and bring up its Properties. On the {General} screen, set the correct slot number for the HSC. On the {Counter Configuration} screen, set the Operational Mode to “Encoder x4 Mode” and the Storage Mode to “Store and Continue Mode”...
Page 106: Conveyor Parameter Configuration For Mlx200
168542-1CD MLX200 Software and Conveyor Tracking Operations 6.5 Conveyor Parameter Configuration for MLX200 Conveyor Parameter Configuration for MLX200 The information for configuring a specific conveyor for MLX200 is located in the ApplicationData.ConveyorData tag structure. Fig. 6-9: Conveyor Data Inside Application Data The ConveyorData tag structure contains the following variables: Fig.
Page 107 168542-1CD MLX200 Software and Conveyor Tracking 6.5 Conveyor Parameter Configuration for MLX200 Operations Parameter Name Description ConveyorType 0 = Linear, 1 = Circular (only Linear supported at this time.) The mm per encoder count. i.e. EncoderToMMConversion [EncoderCount] * EncoderToMMConversion = Distance (mm)) NbrOfPointsToLinearFit The number of points used to calculate a linear fit of...
Page 108: Conveyor Tracking Setup Procedure
168542-1CD MLX200 Software and Conveyor Tracking Operations 6.6 Conveyor Tracking Setup Procedure Conveyor Tracking Setup Procedure 6.6.1 Verify Counter Card is Functional Before attempting Conveyor Tracking operations, the functionality of the counter card (or comparable device) should be verified. To do this, first temporarily unschedule the MLX_Conveyor_0 Task so that MLX200 is not interacting with the conveyor setup.
Page 109: Teach Point And Setup Tracking Parameters
168542-1CD MLX200 Software and Conveyor Tracking 6.6 Conveyor Tracking Setup Procedure Operations 6.6.4 Teach Point and Setup Tracking Parameters  Conveyor Teach Position Value WARNING The motions performed while conveyor tracking will be different from those taught with the conveyor stationary. Thus, certain errors may be encountered while tracking that would not show up otherwise (e.g.
Page 110: Debugging Pickup Position Errors
168542-1CD MLX200 Software and Conveyor Tracking Operations 6.6 Conveyor Tracking Setup Procedure Sync Start Position Value  Determine how far past the photo eye the conveyor tracking sequence should begin. The robot will wait at the MLxRobotConvSyncStart instruction until the part has traveled to this distance past the sensor. At this point, the robot will begin to move.
Page 111: Part Is Gripped Consistently At The Wrong Location On The Part
168542-1CD MLX200 Software and Conveyor Tracking 6.6 Conveyor Tracking Setup Procedure Operations 6.6.5.2 Part is Gripped Consistently at the Wrong Location on the Part  Part is Gripped Consistently at the Wrong Location on the Part If the part is picked up anywhere on the conveyor with the gripper consistently at the wrong location on the part, there is a small execution delay that needs to be calibrated.
Page 112: Developing A Conveyor Tracking Application
168542-1CD MLX200 Software and Conveyor Tracking Operations 6.7 Developing a Conveyor Tracking Application Developing a Conveyor Tracking Application This section will describe how to develop a conveyor tracking application using MLX200. The first section will introduce the instructions specific to Conveyor Tracking.
Page 113: Mlxrobotconvsyncstop Instruction
168542-1CD MLX200 Software and Conveyor Tracking 6.7 Developing a Conveyor Tracking Application Operations ConveyorTeachPos  The ConveyorTeachPos (analogous to the CTP parameter in INFORM) is the position along the conveyor where the robot programmed points were taught with the conveyor stopped. ...
Page 114: Mlxrobotconvsyncstopwithlinearmot Instruction
168542-1CD MLX200 Software and Conveyor Tracking Operations 6.7 Developing a Conveyor Tracking Application 6.7.1.3 MLxRobotConvSyncStopWithLinearMot Instruction MLxRobotConvSyncStopWi Fig. 6-15: Conveyor Synchronization Stop thLinearMot is basically a Followed by a Linear Move Instruction combination of a Linear Motion and a Conveyor Sync Stop.
Page 115: Programming Structure For A Conveyor Tracking Application In Ladder
168542-1CD MLX200 Software and Conveyor Tracking 6.7 Developing a Conveyor Tracking Application Operations 6.7.2 Programming Structure for a Conveyor Tracking Application in Ladder The following sections will describe the basic methodology to program a conveyor tracking application. 6.7.2.1 Program Structure Overview Fig.6-17 "Basic Program Structure for a Conveyor Tracking Application"...
Page 116: Program Structure Details
168542-1CD MLX200 Software and Conveyor Tracking Operations 6.7 Developing a Conveyor Tracking Application 6.7.2.2 Program Structure Details CAUTION Output Latch (OTL) and Output Unlatch (OTU) should be used to toggle the conveyor output signals. Do not use Output Energize (OTE) as this could interfere with internal tasks.
Page 117 168542-1CD MLX200 Software and Conveyor Tracking 6.7 Developing a Conveyor Tracking Application Operations After the motion to the pounce position is called, the step will increment to Step 30 where the Conveyor Sync Start instruction is executed (Fig.6-19 "Move to Conveyor Pounce Position"). As mentioned earlier, this instruction will wait for an object to pass the photo eye and move to the Conveyor Start Position before turning on its Sts_DN bit.
Page 118 168542-1CD MLX200 Software and Conveyor Tracking Operations 6.7 Developing a Conveyor Tracking Application Fig.6-21 "Execute Tracked Motions Step" shows the rung that executes the actual tracked motions. Here three simple linear motions are being executed. Fig. 6-21: Execute Tracked Motions Step Finally, Fig.6-22 "Conveyor Sync Stop Step"...
Page 119: Advanced Application Options
168542-1CD MLX200 Software and Conveyor Tracking 6.7 Developing a Conveyor Tracking Application Operations 6.7.2.3 Advanced Application Options MLX200 also contains several advanced application options that are useful when using multiple conveyors or multiple robots on one conveyor: • Pattern-Based Distribution - the ability to route parts on a conveyor to multiple robots based on a set pattern.
Page 120 168542-1CD MLX200 Software and Conveyor Tracking Operations 6.7 Developing a Conveyor Tracking Application For example, consider the pattern Fig. 6-24: Conveyor Pattern defined in Fig.6-24 Conveyor Configuration Pattern Configuration. This pattern has two parts that are cycled between two robots, and this pattern will be repeated as more parts come.
Page 121 168542-1CD MLX200 Software and Conveyor Tracking 6.7 Developing a Conveyor Tracking Application Operations Dynamic Load-balancing  Dynamic Load-Balancing refers to the process of using the KeepInQueue and NewRobotQueue variables in the Conveyor Sync Stop instruction to dynamically handle the object queue. The use of these variables was first described in Section 6.7.1.2 “MLxRobotConvSyncStop Instruction”.
Page 122: Conveyor Tracking Programming Pitfalls
168542-1CD MLX200 Software and Conveyor Tracking Operations 6.7 Developing a Conveyor Tracking Application Another example scenario involves a robot is picking parts off of one conveyor and placing them onto a tracked part on another conveyor. For example, consider the application shown in Fig.6-27 "One Robot with Two Conveyors Example".
Page 123 168542-1CD MLX200 Software and Conveyor Tracking 6.7 Developing a Conveyor Tracking Application Operations Fig. 6-28: Basic Conveyor Program Structure  STS_OL USAGE The MLxRobotConvSyncStart command has a status bit called Sts_OL that turns on if the part is past its MaxStartPosition when the instruction is called.
Page 124: Configuration And Maintenance Of Mlx200 Control Module
168542-1CD MLX200 Software and Configuration and Maintenance of MLX200 Control Module Operations 7.1 MLX200 Control Module Status Display Configuration and Maintenance of MLX200 Control Module The MLX200 Control Module comes pre-configured with a Status Display and Maintenance Tool which allows the user to get a quick glance at the current status of the MLX200 Control Module and the PLC Interface software.
Page 125: Connecting To Mlx200 Control Module Display Remotely
168542-1CD MLX200 Software and Configuration and Maintenance of MLX200 Control Module 7.1 MLX200 Control Module Status Display Operations 7.1.1 Connecting to MLX200 Control Module Display Remotely In some installations, it may not be possible to easily access the MLX200 Control Module in order to connect a monitor to view the {Status Display} screen.
Page 126 168542-1CD MLX200 Software and Configuration and Maintenance of MLX200 Control Module Operations 7.1 MLX200 Control Module Status Display Once the application is running, click on “File” menu item and click on “Connect…” from the drop down menu as shown in Fig.7-3 "Remote Display Application Connection Process"...
Page 127 168542-1CD MLX200 Software and Configuration and Maintenance of MLX200 Control Module 7.1 MLX200 Control Module Status Display Operations In some cases, the network connection between the User PC and the MLX200 Control Module may be treated by the User PC as a “Public Network” even though it is actually a private network.
Page 128: Maintenance And Configuration Operations
168542-1CD MLX200 Software and Configuration and Maintenance of MLX200 Control Module Operations 7.2 Maintenance and Configuration Operations Maintenance and Configuration Operations The Status Display and Maintenance Tool running on the MLX200 Control Module can be used to perform certain configuration and maintenance operations such as changing IP address of the Control, retrieving log files and performing backup and restore of the Control Module.
Page 129: Changing The Password Of The Mlx200 Control Module
168542-1CD MLX200 Software and Configuration and Maintenance of MLX200 Control Module 7.2 Maintenance and Configuration Operations Operations Fig. 7-7: Maintenance Operations Screen of MLX200 Control Module The user can now select a category of operation on the left, then select a specific operation in the middle within that category and then click the [Execute] button to perform the operation.
Page 130: Changing The Ip Address Of The Mlx200 Control Module
168542-1CD MLX200 Software and Configuration and Maintenance of MLX200 Control Module Operations 7.2 Maintenance and Configuration Operations Click on the [Execute] button after selecting the “Change Password” operation and the user will be presented with the Change Password dialog as shown in Fig.7-9 "Change Password Dialog". Fig.
Page 131: Rebooting The Mlx200 Control Module
168542-1CD MLX200 Software and Configuration and Maintenance of MLX200 Control Module 7.2 Maintenance and Configuration Operations Operations Click on the [Execute] button after selecting the “Change IP Address” operation and the user will be presented with the Change IP Address dialog as shown in Fig.7-11 "Change IP Address Dialog".
Page 132: Retrieving Log Files
168542-1CD MLX200 Software and Configuration and Maintenance of MLX200 Control Module Operations 7.2 Maintenance and Configuration Operations The MLX200 Control Module may need to be rebooted in order to perform a firmware update or restore operation or if the IP Address of the Control Module has been updated.
Page 133: Updating Configuration And License Files
168542-1CD MLX200 Software and Configuration and Maintenance of MLX200 Control Module 7.2 Maintenance and Configuration Operations Operations Fig. 7-14: Selecting Log Files Operations The user can choose to download all log files, or just the log files pertaining to the last run of MLX-R.exe. Select an appropriate operation and then click on the [Execute] button.
Page 134 168542-1CD MLX200 Software and Configuration and Maintenance of MLX200 Control Module Operations 7.2 Maintenance and Configuration Operations Fig. 7-15: Selecting a Download Operation In order to upload a new configuration file or license file, select the “Upload/Restore” category on the left and select the respective operation in the middle as shown in Fig.7-16 "Selecting a Upload Operation".
Page 135: Backup And Restore Operations
168542-1CD MLX200 Software and Configuration and Maintenance of MLX200 Control Module 7.2 Maintenance and Configuration Operations Operations Fig. 7-17: Selecting a File to Upload to the MLX200 Control Module 7.2.7 BACKUP AND RESTORE OPERATIONS The {Maintenance Operations} screen provides the user with the capability to take a backup of the MLX200 Control Module firmware or take a backup of all the Control Module files a precautionary step, so that the firmware or the Control Module can be recovered or restored from the...
Page 136 168542-1CD MLX200 Software and Configuration and Maintenance of MLX200 Control Module Operations 7.2 Maintenance and Configuration Operations Click on the [Execute] button after selecting the appropriate backup operation. The backed up files will be written to folder on the USB Disk with the folder name including a time stamp of the operation.
Page 137: Performing Firmware Update
168542-1CD MLX200 Software and Configuration and Maintenance of MLX200 Control Module 7.2 Maintenance and Configuration Operations Operations Select the folder that contains the backed up files to be restored and click the [Select] button. The Maintenance Tool will first perform verification of the integrity of the backed up files and then prepare the Control Module for the restore operation.
Page 138 168542-1CD MLX200 Software and Configuration and Maintenance of MLX200 Control Module Operations 7.2 Maintenance and Configuration Operations Fig. 7-22: Selecting the Firmware Update Operation Click on the [Execute] button after selecting the update operation. A new pop-up dialog will be shown as shown in Fig.7-23 "Selecting the Folder Containing Firmware Update Files"...
Page 139: Advanced Operations To Assist With Maintenance And Troubleshooting
168542-1CD MLX200 Software and Configuration and Maintenance of MLX200 Control Module 7.2 Maintenance and Configuration Operations Operations Fig. 7-24: Status Display Showing Firmware Update Result 7.2.9 Advanced Operations to Assist with Maintenance and Troubleshooting The Maintenance Tool enables the user to perform certain additional operations that may be needed for advanced trouble shooting purposes.
Page 140 168542-1CD MLX200 Software and Configuration and Maintenance of MLX200 Control Module Operations 7.2 Maintenance and Configuration Operations Fig. 7-25: Selecting the Operation to Modify MLX-R.exe Autostart Settings CAUTION Once the troubleshooting or backup operation is completed, it is important to re-enable the automatic re-start of MLX-R.exe. Failure to do so will cause the MLX200 system to not function as expected.
Page 141: Manually Starting Mlx-R.exe After Auto-Start Is Disabled
168542-1CD MLX200 Software and Configuration and Maintenance of MLX200 Control Module 7.2 Maintenance and Configuration Operations Operations 7.2.9.2 Manually Starting MLX-R.exe After Auto-start is Disabled In situations where the automatic restart of MLX-R.exe is disabled for troubleshooting purposes, it may be necessary manually start MLX-R.exe. This can be done by clicking on the “Settings”...
Page 142: Mlx200 Add-On Instructions
168542-1CD MLX200 Software and Appendix A Operations A.1 MLX200 Add-on Instructions Appendix A MLX200 Add-on Instructions A.1.1 MLxAbort The MLxAbort instruction is used to command a controlled stop on all servo drives, disable the drives, and place the system into ServosOffAborted state.
Page 143: Mlxenable
168542-1CD MLX200 Software and Appendix A A.1 MLX200 Add-on Instructions Operations A.1.2 MLxEnable The MLxEnable instruction is used to enable the servos on all axes/robots and transition the system into Idle state. This must be called before motions can be commanded on the system. Fig.
Page 144: Mlxhold
168542-1CD MLX200 Software and Appendix A Operations A.1 MLX200 Add-on Instructions A.1.3 MLxHold The MLxHold instruction is used to stop all axes/robots in the current path, while maintaining the queue of programmed motions. The system will transition to the Held state after this command. The queued motions can be restarted using the MLxRestart command.
Page 145: Mlxreset
168542-1CD MLX200 Software and Appendix A A.1 MLX200 Add-on Instructions Operations A.1.4 MLxReset The MLxReset instruction is used to reset all axes and robots in the system and transition the state of the system to ServosOffReady where the system will be ready to enable. The instruction can fail in some instances where the error state is not removed before resetting (e.g.
Page 146: Mlxresetandhold
168542-1CD MLX200 Software and Appendix A Operations A.1 MLX200 Add-on Instructions A.1.5 MLxResetAndHold The MLxResetAndHold instruction is used to reset the errors in the system. This instruction will not reset the queue of programmed motions unlike the MLxReset instruction. The system will transition to ServosOffHeld state.
Page 147: Mlxrestart
168542-1CD MLX200 Software and Appendix A A.1 MLX200 Add-on Instructions Operations A.1.6 MLxRestart The MLxRestart instruction is used to restart queued motions when the system is in the Held state. Fig. A-6: MLxRestart Instruction Table A-6: MLxRestart Instruction Name Data Type Usage Description Sts_DN...
Page 148: Mlxstop
168542-1CD MLX200 Software and Appendix A Operations A.1 MLX200 Add-on Instructions A.1.7 MLxStop The MLxStop instruction is used to bring all Axes and Robots in the system to a controlled stop and then transition to the Idle state. Fig. A-7: MLxStop Instruction Table A-7: MLxStop Instruction Name Data Type...
Page 149: Mlxrobotmoveaxisabsolute
168542-1CD MLX200 Software and Appendix A A.1 MLX200 Add-on Instructions Operations A.1.8 MLxRobotMoveAxisAbsolute The MLxRobotMoveAxisAbsolute instruction is used to move each axis of the robot to the final absolute commanded position as quickly as possible, with all axes starting and stopping at the same time. While an axis motion results in the shortest travel time, it does not follow a particular path for the TCP.
Page 150 168542-1CD MLX200 Software and Appendix A Operations A.1 MLX200 Add-on Instructions Name Data Type Usage Description Sts_IP BOOL Output In process bit. This Instruction is actively executing, but another instruction may be commanding the active movement. Sts_AC BOOL Output Active bit HIGH if this motion is currently executing Sts_PC BOOL...
Page 151: Mlxrobotmoveaxisrelative
168542-1CD MLX200 Software and Appendix A A.1 MLX200 Add-on Instructions Operations A.1.9 MLxRobotMoveAxisRelative The MLxRobotMoveAxisRelative instruction is used to move each axis of the robot to the final relative commanded position as quickly as possible, with all axes starting and stopping at the same time. While an axis motion results in the shortest travel time, it does not follow a particular path for the TCP.
Page 152 168542-1CD MLX200 Software and Appendix A Operations A.1 MLX200 Add-on Instructions Name Data Type Usage Description Sts_PC BOOL Output Process complete bit. HIGH if this motion has reached the end of its commanded trajectory. Sts_ER BOOL Output Error bit. Indicates an error during instruction execution.
Page 153: Mlxrobotmovelinearabsolute
168542-1CD MLX200 Software and Appendix A A.1 MLX200 Add-on Instructions Operations A.1.10 MLxRobotMoveLinearAbsolute The MLxRobotMoveLinearAbsolute instruction is used to initiate a Linear motion of the robot TCP in Cartesian space to an absolute target position. The result is a straight line trajectory for the robot TCP. The user can specify the target position as well as desired speed, accel/decel, and jerk parameters (when using a Jerk-Limited Velocity Profile).
Page 154 168542-1CD MLX200 Software and Appendix A Operations A.1 MLX200 Add-on Instructions Name Data Type Usage Description SpeedUnits DINT Input 0 = % Maximum, 1 = Absolute Value in position units/sec Acceleration REAL Input Acceleration rate for axis in % of maximum. Deceleration REAL Input...
Page 155: Mlxrobotmovelinearrelative
168542-1CD MLX200 Software and Appendix A A.1 MLX200 Add-on Instructions Operations A.1.11 MLxRobotMoveLinearRelative The MLxRobotMoveLinearRelative instruction is used to initiate a Linear motion of the robot TCP in Cartesian space to a relative target position (e.g. a position 100 mm away in the Z direction). The result is a straight line trajectory for the robot TCP.
Page 156 168542-1CD MLX200 Software and Appendix A Operations A.1 MLX200 Add-on Instructions Name Data Type Usage Description UseRotationalSpeed BOOL Input Units to use for Speed. 0 = (linear units)/sec, 1= deg/sec. When set to 1, the speed of a linear motion between two points is defined as the time is takes to rotate the product at the defined rotational speed.
Page 157: Mlxrobotmovecircular
168542-1CD MLX200 Software and Appendix A A.1 MLX200 Add-on Instructions Operations A.1.12 MLxRobotMoveCircular The MLxRobotMoveCircular instruction is used to initiate a Circular Arc motion of the robot TCP in Cartesian space through two target TCP Positions. The result is a circular arc trajectory for the robot TCP that uses the current position as well as the ViaPosition and FinalPosition parameters to calculate the circular path.
Page 158 168542-1CD MLX200 Software and Appendix A Operations A.1 MLX200 Add-on Instructions Table A-12: MLxRobotMoveCircular Name Data Type Usage Description MLxRobotMoveCircular MLxRobotMoveCircular InOut Input RobotNumber DINT The robot commanded by this instruction instance. Valid values are 0 to MLX[].NumberOfRobots-1. ViaPosition MLxAppDataTeachPoint Input VAn MLxRobotPosition structure containing the target TCP coordinates and closure information...
Page 159: Mlxrobotjogaxes
168542-1CD MLX200 Software and Appendix A A.1 MLX200 Add-on Instructions Operations A.1.13 MLxRobotJogAxes The MLxRobotJogAxes instruction is used to manually jog the axes of the robot. The Directions parameter is an array the defines the direction to jog each axes with 1 being in the positive direction and -1 being in the negative direction.
Page 160: Mlxrobotjogaxestopoint
168542-1CD MLX200 Software and Appendix A Operations A.1 MLX200 Add-on Instructions A.1.14 MLxRobotJogAxesToPoint The MLxRobotJogAxesToPoint instruction is used to manually jog the robot to a target axes position in axis-interpolated motion. The TargetAxes parameter defines the target position, and the Speed is defined as a % of maximum speed.
Page 161: Mlxrobotjogtcp
168542-1CD MLX200 Software and Appendix A A.1 MLX200 Add-on Instructions Operations A.1.15 MLXRobotJogTCP The MLxRobotJogTCP instruction is used to manually jog the TCP of the robot. The Directions parameter is an array the defines the direction to jog each coordinate direction (X,Y,Z,RX,RY,RZ). The Speed can be specified as either absolute values (e.g.
Page 162 168542-1CD MLX200 Software and Appendix A Operations A.1 MLX200 Add-on Instructions Table A-15: MLxRobotJogTCP Instruction Name Data Type Usage Description RobotNumber DINT Input The robot commanded by this instruction instance. Valid values are 0 to MLX[].NumberOfRobots-1. Directions DINT[6] InOut Defines the job directions for each robot axis: 0 - Positive, 1 - Negative.
Page 163: Mlxrobotjogtcptopoint
168542-1CD MLX200 Software and Appendix A A.1 MLX200 Add-on Instructions Operations A.1.16 MLxRobotJogTCPToPoint The MLxRobotJogTCPToPoint instruction is used to manually jog the robot to a target TCP position. The TargetTCP parameter contains the (X,Y,Z,RX,RY,RZ) position of the target as well as closure information. The Speed can be specified as either absolute values (e.g.
Page 164: Mlxrobotcoordinatetransform
168542-1CD MLX200 Software and Appendix A Operations A.1 MLX200 Add-on Instructions A.1.17 MLxRobotCoordinateTransform The MLxRobotCoordinateTransform instruction can be used to update the Axis/TCP position of a Teach Point or to convert a TCP position between World and User coordinates. Fig. A-17: MLxRobotCoordinateTransform Instruction Table A-17: MLxRobotCoordinateTransform Instruction Name Data Type...
Page 165: Mlxrobotsetbasepose
168542-1CD MLX200 Software and Appendix A A.1 MLX200 Add-on Instructions Operations A.1.18 MLxRobotSetBasePose The MLxRobotSetBasePose instruction is used to set the position and orientation of the robot with respect to the World Frame. Changing a Robot's Base Pose will not cause any motion but will change the TCP position reported from MLxRobotCoordinateTransform.
Page 166: Mlxrobotsetcubicizbycenterpoint
168542-1CD MLX200 Software and Appendix A Operations A.1 MLX200 Add-on Instructions A.1.19 MLxRobotSetCubicIZByCenterPoint The MLxRobotSetCubicIZByCenterPoint instruction is used to define a Cubic IZ (Interference Zone) by defining a Center Point and the Dimension around it (length, width, height). The IZAction parameter is used to define the action of the IZ: •...
Page 167: Mlxrobotsetcubicizbytwocorners
168542-1CD MLX200 Software and Appendix A A.1 MLX200 Add-on Instructions Operations A.1.20 MLxRobotSetCubicIZByTwoCorners The MLxRobotSetCubicIZByTwoCorners instruction is used to define a Cubic IZ (Interference Zone) by defining two corners of a cube in Cartesian space. The IZAction parameter is used to define the action of the IZ: •...
Page 168: Mlxrobotsetframeshift
168542-1CD MLX200 Software and Appendix A Operations A.1 MLX200 Add-on Instructions A.1.21 MLxRobotSetFrameShift The MLxRobotSetFrameShift instruction allows a user to execute a Cartesian offset that is applied to subsequent moves. This is useful for defining programmatic patterns such as a pelletizing application where the first product is located, and the rest of the positions are offsets from that position.
Page 169: Mlxrobotsettoolproperties
168542-1CD MLX200 Software and Appendix A A.1 MLX200 Add-on Instructions Operations A.1.22 MLxRobotSetToolProperties The MLxRobotSetToolProperties instruction is used to update the offset between the Tool Plate and TCP position of the Robot. The ToolPose parameter defines the (X,Y,Z,RX,RY,RZ) offsets for the new tool position. A new Tool Pose will change the TCP position of the Robot reported from MLxRobotCoordinateTransform and will also affect the TCP positions passed into Motion instructions as parameters.
Page 170: Mlxrobotsetuserframe
168542-1CD MLX200 Software and Appendix A Operations A.1 MLX200 Add-on Instructions A.1.23 MLxRobotSetUserFrame The MLxRobotSetUserFrame instruction is used to set the Active User Frame for a Robot. The UserFrame parameter is a REAL[6] array containing the (X,Y,Z,RX,RY,RZ) coordinates of the User Frame in World Coordinates.
Page 171: Mlxrobotcollisiondetection
168542-1CD MLX200 Software and Appendix A A.1 MLX200 Add-on Instructions Operations A.1.24 MLxRobotCollisionDetection The MLxRobotCollisionDetection instruction is used to perform various actions for Collision Monitoring and Detection. Valid actions are: • 0 - Start Measurement Mode. This action will begin internally recording torque disturbance values.
Page 172 168542-1CD MLX200 Software and Appendix A Operations A.1 MLX200 Add-on Instructions Table A-24: MLxRobotCollisionDetection Instruction Name Data Type Usage Description MLxRobotCollisionDetection MLxRobotCollisionDetection InOut RobotNumber DINT Input The robot commanded by this instruction instance. Valid values are 0 to MLX[].NumberOfRobots-1. CollisionFile DINT Input The Collision File to use.
Page 173: Mlxrobotconvsyncstart
168542-1CD MLX200 Software and Appendix A A.1 MLX200 Add-on Instructions Operations A.1.25 MLxRobotConvSyncStart MLxRobotConvSyncStartt is used to initialize a conveyor tracking operation. This AOI will wait until a product has passed the ConveyorStartPosition and then sync with the conveyor. All commands performed after an MLxRobotConvSyncStartt command will track the conveyor until an MLxConvSyncStop is called Fig.
Page 174: Mlxrobotconvsyncstop
168542-1CD MLX200 Software and Appendix A Operations A.1 MLX200 Add-on Instructions A.1.26 MLxRobotConvSyncStop MLxRobotConvSyncStop is used to stop conveyor tracking operations and update the object queue. Fig. A-26: MLxRobotConvSyncStop Instruction Table A-26: MLxRobotConvSyncStop Instruction Name Data Type Usage Description RobotNumber DINT Input The robot commanded by this instruction...
Page 175: Mlxrobotconvsyncstopwithaxismot
168542-1CD MLX200 Software and Appendix A A.1 MLX200 Add-on Instructions Operations A.1.27 MLxRobotConvSyncStopWithAxisMot The MLxRobotConvSyncStopWithAxisMot command is used to stop conveyor tracking operations and blend directly into an Absolute Axis motion. Fig. A-27: MLxRobotConvSyncStopWithAxisMot Instruction Table A-27: MLxRobotConvSyncStopWithAxisMot Instruction Name Data Type Usage Description...
Page 176 168542-1CD MLX200 Software and Appendix A Operations A.1 MLX200 Add-on Instructions Name Data Type Usage Description BlendFactor DINT Input Valid values: 0-8. This will define how much this motion should be blended into the next motion. Note: an additional motion will need to be added to the queue for this parameter to work correctly.
Page 177: Mlxrobotconvsyncstopwithlinearmot
168542-1CD MLX200 Software and Appendix A A.1 MLX200 Add-on Instructions Operations A.1.28 MLxRobotConvSyncStopWithLinearMot The MLxRobotConvSyncStopWithLinearMot command is used to stop conveyor tracking operations and blend directly into an Absolute Linear motion Fig. A-28: MLxRobotConvSyncStopWithLinearMot Instruction Table A-28: MLxRobotConvSyncStopWithLinearMot Instruction Name Data Type Usage Description...
Page 178 168542-1CD MLX200 Software and Appendix A Operations A.1 MLX200 Add-on Instructions Name Data Type Usage Description BlendFactor DINT Input Valid values: 0-8. This will define how much this motion should be blended into the next motion. Note: an additional motion will need to be added to the queue for this parameter to work correctly.
Page 179: Mlxgeterrordetail
168542-1CD MLX200 Software and Appendix A A.1 MLX200 Add-on Instructions Operations A.1.29 MLxGetErrorDetail The MLxGetErrorDetail instruction is used to retrieve detailed error information from the MLX200 Control Module. This error information will populate the passed in MLxErrorDetail structure that contains the detailed error message as well as fields describing the Type of error, Origin of error, Remedy, and others.
Page 180: Mlxgetmoduleinfo
168542-1CD MLX200 Software and Appendix A Operations A.1 MLX200 Add-on Instructions A.1.30 MLxGetModuleInfo The MLxGetModuleInfo instruction is used to retrieved information about the configuration of the connected MLX200 Robot Control Module. This information includes the type of Control Module, the IP and MAC addresses, and the firmware version.
Page 181: Mlxreaddigitalinputs
When this AOI is called, the IO1-IO4 values will map to digital inputs defined for the servo drive type. On a Yaskawa SigmaV drive IO1=SI0, IO2=SI1, IO3=SI2 and IO4=SI3. Fig. A-31: MLxReadDigitalInputs lnstruction...
Page 182: Mlxwritedigitaloutputs
When this AOI is called, the IO1-IO4 values will map to digital outputs defined for the servo drive type. For example, on a Yaskawa SigmaV drive IO1=SO1, IO2=SO2, IO3=SO3 and IO4 is unused.
Page 183: Mlxrobotgethomeoffsets
168542-1CD MLX200 Software and Appendix A A.1 MLX200 Add-on Instructions Operations A.1.33 MLxRobotGetHomeOffsets The MLxRobotGetHomeOffsets is used to retrieve the current home positions for each robot axis. Fig. A-33: MLxRobotGetHomeOffsets lnstruction Table A-33: MLxRobotGetHomeOffsets Instruction Name Data Type Usage Description RobotNumber DINT Input...
Page 184: Mlxrobotsethomeoffsets
168542-1CD MLX200 Software and Appendix A Operations A.1 MLX200 Add-on Instructions A.1.34 MLxRobotSetHomeOffsets The MLxRobotSetHomeOffsets is used to update the Home Position of the robot. In order for the new home values to take place, the system must be restarted after calling this AOI. Fig.
Page 185: Mlxrobotgetproperties
168542-1CD MLX200 Software and Appendix A A.1 MLX200 Add-on Instructions Operations A.1.35 MLxRobotGetProperties The MLxRobotGetProperties instruction is used to read the configuration parameters of a Robot. These properties will automatically populate the MLX[].Robot[].ConfigurationData as well as the individual axis configurations inside MLX[].Robot[].RobotAxes[]. This AOI will automatically run during system initialization to populate this data.
Page 186: Mlxrobotsetproperties
168542-1CD MLX200 Software and Appendix A Operations A.1 MLX200 Add-on Instructions A.1.36 MLxRobotSetProperties The MLxRobotSetProperties instruction is used to update the Robot Configuration Data (e.g. TCP speed/acceleration limits, Axis position/ speed/acceleration limits, etc). This data should be directly changed inside the MLX[].Robot[].ConfigurationData and MLX[].Robot[].RobotAxes[].ConfigurationData structure before calling the AOI.
Page 187: Mlxsetglobalparameter
168542-1CD MLX200 Software and Appendix A A.1 MLX200 Add-on Instructions Operations A.1.37 MLxSetGlobalParameter The MLxSetGlobalParamer is for setting an MLX Global Parameter. The type of parameter can be set using the ParameterType field. Available parameter types include: • 0 - Speed Scale % (5-100). This sets the global speed scale for all motions.
Page 188: Mlx200 Control Module Performance Results And Memory Usage
168542-1CD MLX200 Software and Appendix B Operations B.1 MLX200 Control Module Performance Results and Memory Usage Appendix B MLX200 Control Module Performance Results and Memory Usage The following tables contain basic performance results measured running MLX200 on a 1756-L75 ControlLogix Controller, an L35E CompactLogix Controller (old generation) and an L27ERM CompactLogix Controller (newer generation).
Page 189 168542-1CD MLX200 Software and Appendix B B.1 MLX200 Control Module Performance Results and Memory Usage Operations The below figure shows the memory used by an empty MLX200 project (all needed AOIs, UDTs, Tasks included but not application data or tasks) The included project memory usage may be slightly higher as they will have the Example Applications already added.
Page 190 168542-1CD MLX200 Software and Appendix C Operations C.1 MLX200 Control Module Error Code List Appendix C MLX200 Control Module Error Code List Table C-1: Error Code List Message Description Remedy Error # Error # No Error Nothing to remedy. File I/O Error Missing or Corrupt file.
Page 191 168542-1CD MLX200 Software and Appendix C C.1 MLX200 Control Module Error Code List Operations Message Description Remedy Error # Error # Command Not The requested command is not Review the documentation to verify Allowed. allowed in current state or mode. what commands are allowed in each state.
Page 192 168542-1CD MLX200 Software and Appendix C Operations C.1 MLX200 Control Module Error Code List Message Description Remedy Error # Error # Communication Fuji Teach Pendant is not able to Verify project setting match actual IP Error PLC1 communicate with the PLC settings of Teach Pendant and the Ethernet Error: PLC in use.
Page 193 168542-1CD MLX200 Software and Appendix C C.1 MLX200 Control Module Error Code List Operations Message Description Remedy Error # Error # External External Exception Error. Restart system and contact customer Exception Error support if error persists. Servo torque Servo torque limit reached. Lower acceleration and/or speed limit reached values and reset system.
Page 194 168542-1CD MLX200 Software and Appendix C Operations C.1 MLX200 Control Module Error Code List Message Description Remedy Error # Error # System Brake release not allowed. Cannot Change system state before Monitoring enter brake release mode while in releasing brakes. Fault Running state.
Page 195 168542-1CD MLX200 Software and Appendix C C.1 MLX200 Control Module Error Code List Operations Message Description Remedy Error # Error # System Actual Position movement detected Verify software configuration and Monitoring by Monitor. Actual servo position is consult log files. Contact customer Fault expected to remain constant in the support if problem persists.
Page 196 168542-1CD MLX200 Software and Appendix C Operations C.1 MLX200 Control Module Error Code List Message Description Remedy Error # Error # 2624 Servo System Initialization Error. The “See Chapter 9 of Sigma-V Series, Communication initialization at power on sequence AC Servo Drives, USER'S MANUAL. Error was failed.
Page 197 168542-1CD MLX200 Software and Appendix C C.1 MLX200 Control Module Error Code List Operations Message Description Remedy Error # Error # Servo Drive Fully-closed Loop Control Parameter “See Chapter 9 of Sigma-V Series, Fault Setting Error. “The settings of the AC Servo Drives, USER'S MANUAL.
Page 198 168542-1CD MLX200 Software and Appendix C Operations C.1 MLX200 Control Module Error Code List Message Description Remedy Error # Error # 1104 Servo Drive Main-Circuit Capacitor Overvoltage. “See Chapter 9 of Sigma-V Series, Fault The capacitor of the main circuit has AC Servo Drives, USER'S MANUAL.
Page 199 168542-1CD MLX200 Software and Appendix C C.1 MLX200 Control Module Error Code List Operations Message Description Remedy Error # Error # 1963 Servo Drive Built-in Fan in SERVOPACK “See Chapter 9 of Sigma-V Series, Fault Stopped. The fan inside the AC Servo Drives, USER'S MANUAL.
Page 200 168542-1CD MLX200 Software and Appendix C Operations C.1 MLX200 Control Module Error Code List Message Description Remedy Error # Error # 2213 Servo Drive Encoder Overspeed. The overspeed “See Chapter 9 of Sigma-V Series, Fault from the external encoder occurred. AC Servo Drives, USER'S MANUAL.
Page 201 168542-1CD MLX200 Software and Appendix C C.1 MLX200 Control Module Error Code List Operations Message Description Remedy Error # Error # 3200 Servo Drive Absolute Encoder Clear Error and “See Chapter 9 of Sigma-V Series, Fault Multi-turn Limit Setting Error. The AC Servo Drives, USER'S MANUAL.
Page 202 168542-1CD MLX200 Software and Appendix C Operations C.1 MLX200 Control Module Error Code List Message Description Remedy Error # Error # 3330 Servo Drive Position Error Pulse Overflow Alarm “See Chapter 9 of Sigma-V Series, Fault by Speed Limit at Servo ON. After a AC Servo Drives, USER'S MANUAL.
Page 203 168542-1CD MLX200 Software and Appendix C C.1 MLX200 Control Module Error Code List Operations Message Description Remedy Error # Error # 3681 Servo Drive Command Option Module IF “See Chapter 9 of Sigma-V Series, Fault Synchronization Error 3. There was a AC Servo Drives, USER'S MANUAL.
Page 204 168542-1CD MLX200 Software and Appendix C Operations C.1 MLX200 Control Module Error Code List Message Description Remedy Error # Error # Servo Drive Hardware Fault occurred in the See Chapter 11, section 3 of Fault SanMotionR Servo Drive. SanMotionR Advanced Model EtherCAT I/F Manual.
Page 205 168542-1CD MLX200 Software and Appendix D D.1 3rd Party Software Licenses Usage Operations Appendix D 3rd Party Software Licenses Usage SOFTWARE DISTRIBUTION LICENSE FOR THE ETHERNET/IP(TM) COMMUNICATION STACK (ADAPTED BSD STYLE LICENSE) Copyright (c) 2009, Rockwell Automation, Inc. ALL RIGHTS RESERVED. EtherNet/IP is a trademark of ODVA, Inc.
Page 206 USERS MANUAL HEAD OFFICE 2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, Japan Phone +81-93-645-7703 Fax +81-93-645-7802 YASKAWA America Inc. (Motoman Robotics Division) 100 Automation Way, Miamisburg, OH 45342, U.S.A. Phone +1-937-847-6200 Fax +1-937-847-6277 YASKAWA Europe GmbH Robotics Divsion ) Yaskawastrasse 1, 85391 Allershausen, Germany...

YASKAWA Motoman MLX200 Software Operation Users Manual

1 Introduction

2 System Configuration

3 Developing with MLX200

4 MLX200 Programming Guide

5 Collision Detection

6 Conveyor Tracking

7 Configuration and Maintenance of MLX200 Control Module

Appendix A MLX200 Add-On Instructions

Appendix B

Quick Links

Related Manuals for YASKAWA Motoman MLX200

Summary of Contents for YASKAWA Motoman MLX200

Table of Contents