Data type for the shared memory of the MotoLogix functions.
Version history
0.1.0
Changes
- source code ported
- version number reset
- now using semantic versioning
Overview
| name | type | default | comment |
|---|---|---|---|
| SystemState | DINT | Current State of the system: 0=Initializing, 1=EnablingToIdle, 2=EnablingToHeld, 3=Idle, 4=Running, 5=Holding, 6=Held, 7=Aborting, 8=ServosOffAborted, 9=StoppingToIdle, 10=StoppingToServosOff, 11=StoppingToServosOffHeld, 12=ServosOffReady, 13=ServosOffHeld, 14=FataFault | |
| SystemErrorCode | DINT | Current Error Code for the system, 0 for No Error. Consult User Guide for full list of Error Codes. | |
| NumberOfQueuedErrors | DINT | In the case that multiple errors have occured, this variable will list the number of queued variables. Repeated calls to MLxGetErrorDetail will return the most recent error and reduce the size of the queue by 1. | |
| NumberOfAxes | DINT | Number of Axes in current system. The MotoLogix system must be connected for this value to update properly. | |
| NumberOfRobots | DINT | Number of Robots in current system. The MotoLogix system must be connected for this value to update properly. | |
| OperationMode | SINT | For future use | |
| JoggingMode | BOOL | Set this to 1 to use the MLxMoveJog command. | |
| UserProgramStart | BOOL | For future use | |
| UserProgramStepContinue | BOOL | For future use | |
| MLxControllerInfo | MLxModuleInfo | Contains information on the MotoLogix system - use MLxGetModuleInfo to get the data. | |
| Signals | MLxSignals | Contains additional signals about state of system. | |
| InternalData | MLxxInternalData | INTERNAL USE ONLY | |
| Axis | ARRAY[0..15] OF
MLxAxisData | Axis Configuration and Feedback data. | |
| Robot | ARRAY[0..3] OF
MLxRobotData | Robot Configuration and Feedback data | |
| HMIFeedbackConfiguration | MLxHMIFeedbackConfiguration | Configuration information for HMIFeedbackData. | |
| HMIFeedbackData | MLxHMIFeedbackData | Feedback information currently displayed on the HMI. |
Details
SystemState
DINTCheck the state transitions diagram to learn more about below states.
| value | name |
|---|---|
| 0 | Initializing |
| 1 | EnablingToIdle |
| 2 | EnablingToHeld |
| 3 | Idle |
| 4 | Running |
| 5 | Holding |
| 6 | Held |
| 7 | Aborting |
| 8 | ServosOffAborted |
| 9 | StoppingToIdle |
| 10 | StoppingToServosOff |
| 11 | StoppingToServosOffHeld |
| 12 | ServosOffReady |
| 13 | ServosOffHeld |
| 14 | FatalFault |
SystemErrorCode
DINTCurrent Error Code for the system, 0 for No Error.
Consult User Guide for full list of Error Codes.
NumberOfQueuedErrors
DINTIn the case that multiple errors have occurred, this variable will list
the number of queued variables. Repeated calls to MLxGetErrorDetail will
return the most recent error and reduce the size of the queue by 1.
NumberOfAxes
DINTNumber of Axes in current system.
The MotoLogix system must be connected for this value to update properly.
NumberOfRobots
DINTNumber of Robots in current system.
The MotoLogix system must be connected for this value to update properly.
OperationMode
SINTFor future use
JoggingMode
BOOLSet to 1 to use MLxMoveJogxxx commands.
Set to 0 for MLxRobotMovexxx commands.
UserProgramStart
BOOLFor future use
UserProgramStepContinue
BOOLFor future use
MLxControllerInfo
MLxModuleInfoContains information on the MotoLogix system.
Use MLxGetModuleInfo to get the data.
Signals
MLxSignalsContains additional signals about state of the system.
See MLxSignals data type to get more information.
InternalData
MLxxInternalDataINTERNAL USE ONLY
Axis
ARRAY[0..15] OF
MLxAxisDataAxis Configuration and Feedback data.
Robot
ARRAY[0..3] OF
MLxRobotDataRobot Configuration and Feedback data
HMIFeedbackConfiguration
MLxHMIFeedbackConfigurationConfiguration for HMIFeedbackData.
HMIFeedbackData
MLxHMIFeedbackDataRobot current TCP position as set in the HMIFeedbackConfiguration
parameter.