This is part of 2.1.0 – latest release.

MLxAxisData

Data type for robot axis data.

Data structure used in MLxData and MLxRobotData structure.

Contains axis configuration, servo data and axis feedbacks.

Version history

04 Jan 2021 deGroot

Changed:

name	type	comment
AxisName_LEN	`DINT`	Stringlength for platform compatibility
AxisName	`STRING[82]`	User defined axis name. To change, update this value and execute an MLxSetAxisProperties.
ConfigurationData	`MLxAxisConfigurationData`	Contains limits data for each axis that will be populated during initialization. To update these values, change the tag value and execute an MLxSetAxisProperties.
ServoData	`MLxServoData`	Contains servo information for each axis that will be populated during initialization. To update these values, change the tag value and execute an MLxSetAxisProperties.
FeedbackData	`MLxAxisFeedback`	READ ONLY - Contains feedback data for each axis that will be updated while system is running.
isActive	`BOOL`	Indicates whether there is an axis defined on this slot. Updated during initialization.
Padding	`ARRAY[0..2] OF BOOL`	Placeholder for platform compatibility

DINT

Stringlength for platform compatibility

STRING[82]

Axis name as defined by the robot controller.

Note that it cannot be changed by function block.

Contains limits data for each axis that will be populated after calling MLxRobotGetProperties instruction.

Contains servo information for each axis that will be populated during initialization.

Note that it cannot be changed by function block.

READ ONLY

Contains feedback data for each axis that will be updated while system is running.

BOOL

Indicates whether there is an axis defined on this slot. Updated during initialization.

ARRAY[0..2] OF BOOL

Placeholder for platform compatibility