Functions

Stop all axes and disable servo drives. Does not clear the motion buffer.

Read `BYTE` variables from the robot controller.

Write `BYTE` variables to the robot controller.

Calculate the user frame data (in WORLD) for a child user frame which is defined on a parent user frame.

Communication handling for reading from a MotoLogix system.

Communication handling for writing to a MotoLogix system.

Read `DINT` variables from the robot controller.

Write `DINT` variables to the robot controller.

Enable the servo drives.

Read log (timestamp) of a safety related configuration event.

Read robot alarm information.

Verify if the robot limit monitoring is active.

Read robot message information.

Read the MotoLogix module properties from the robot controller.

Read CRC information of a safety related file.

Pause all axes. Motion can be resumed later.

Read `INT` variables from the robot controller.

Write `INT` variables to the robot controller.

Read a robot controller's digital input.

Reset alarms and clear the motion buffer.

Reset alarms. Does not clear the motion buffer.

Resume buffered motions. Used to resume motion after MLxHold.

Calculate tool offset and orientation from 5 taught positions.

Arm the conveyor tracking function. The robot will automatically start its motion after the conditions are met.

Stop conveyor tracking.

Stop conveyor tracking and execute a PtP motion.

Stop conveyor tracking and execute a linear motion.

Convert a position between axis/TCP (cartesian) or World/User coordinates.

Read status and torque levels of the collision detection.

Read the measured maximum torques of the robot.

Read the `absolute home position` from the robot controller.

Read configuration data from the robot controller.

Read a position which was captured during search motion.

Read the number of positions which were captured during search motion.

Manually jog the robot axes.

Manually jog the robot to a target axis position. This uses PtP interpolation.

Manually jog the robot TCP (cartesian).

Manually jog the robot to a target TCP (cartesian) position. This uses linear interpolation.

Move to an absolute target (axis- or TCP) position. This uses PtP interpolation.

Move robot and base axis to an absolute target (axis- or TCP) position. This uses PtP interpolation. It is a coordinated motion - both robot and base axis start and finish together.

Move to an absolute target (axis- or TCP) position which is stored in a `Position` variable in the robot controller. This uses PtP interpolation.

Move to a relative target (axis- or TCP) position. This uses PtP interpolation.

Move robot and base axis to a relative target (axis- or TCP) position. This uses PtP interpolation. It is a coordinated motion - both robot and base axis start and finish together.

Move robot and base axis to an absolute target (axis- or TCP) position. This uses linear interpolation. It is a coordinated motion - both robot and base axis start and finish together.

Move to an absolute target (axis- or TCP) position. This uses linear interpolation.

Move to an absolute target (axis- or TCP) position which is stored in a `Position` variable in the robot controller. This uses linear interpolation.

Move to a relative target (axis- or TCP) position. This uses linear interpolation.

Move robot and base axis to a relative target (axis- or TCP) position. This uses linear interpolation. It is a coordinated motion - both robot and base axis start and finish together.

Read a `Position` variable from the robot controller.

Write a `Position` variable to the robot controller.

Reset the measured maximum torques of the robot.

Deactivate the robot search condition. Motion commands sent after this MLxRobotResetSearch are no longer executed as search motion.

Select a collision detection file.

Select the active tool of the robot. FSU systems require tool selection by both function block and safety wiring/-fieldbus.

Set the manipulator's origin in the World coordinates. This cannot be used for the first manipulator of the robot controller (its origin is equal to the World origin).

Write allowed maximum torques to a collision detection file.

Temporarily suspend the collision detection function.

Setup a cubic interference zone by specifying a cuboid around a center point.

Setup a cubic interference zone by specifying two diagonal corners of a cuboid.

Schedule a robot controller's digital output to switch at an exact distance/time from the target.

Shift all following motion commands by an offset.

Write the `absolute home position` to the robot controller. Not allowed for FSU systems.

Write configuration data to the robot controller.

Activate the robot search condition. Motion commands sent after this MLxRobotSetSearch are executed as search motion.

Deactivate the robot servofloat condition. Motion commands sent after this MLxRobotSetServoFloatOff are no longer executed as servofloat motion.

Activate the robot servofloat condition. Motion commands sent after this MLxRobotSetServoFloatOn are executed as servofloat motion.

Write servofloat settings to the robot controller.

Write `tool data` to the robot controller and set it as the active tool. Not allowed for FSU systems.

Write `user frame data` to the robot controller (volatile memory) and set it as the active user frame.

Read `REAL` variables from the robot controller.

Write `REAL` variables to the robot controller.

Write a parameter to the robot controller.

For activating/deactivating the robot limit monitoring.

Stop all axes and clear the motion buffer. Does not disable the servo drives.

Read `STRING` variables from the robot controller.

Write `STRING` variables to the robot controller.

Convert the three taught points (ORG/XX/XY) of a user frame to a CoordFrame (X/Y/Z/Rx/Ry/Rz).

Copy data from the robot controller's volatile memory into persistent storage.

Switch a robot controller's digital output.

Perform a standard two argument arctangent method (ATAN2). The result is in radians.

Convert a cartesian position into a 4x4 transformation matrix.

Compare two axis positions.

Compare two TCP (cartesian) positions.

Copy the manipulator axis positions into an array.

Calculate the inverse of a 4x4 transformation matrix.

Multiply two 4x4 transformation matrices.

Convert a 4x4 transformation matrix into a cartesian position.

Read a single bit in a `DINT`.

Convert a user frame to a 4x4 transformation matrix.

Write a single bit in a `DINT`.