Mlx200 Tag Structures; Mlx-Level Tag Structure - YASKAWA Motoman MLX200 Software Operation Users Manual

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MLX200 Software and
Operations
3.1

3.1.1 MLx-Level Tag Structure

3 Developing with MLX200

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. The
following sections describe the tag structures in detail.
The MLx-level tag structure contains configuration and feedback data for
the system. It is defined as an array of size 1 by default. The size of the
MLX-level data structure array will only increase if multiple MLX200
Control modules are being configured from the same system:
• Root - under the main MLx tag, there are variables describing the
system state, error code, number of Robots, etc.
• MLxControl Module Info - describes properties of the MLX200
Control Module such as IP Address and firmware version.
• Signals - contains signals for informing the user when the system is
connected and initialized.
• Robot[] - contains information on each initialized/used robot.
Fig. 3-1: MLx-Level Tag Structure.
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