An overview of the most interesting signals in MLxData.
Each MotoLogix system has its own MLX variable.
This MLX variable (data type: MLxData) acts as the shared memory for all
MotoLogix functions.
Most of its data is for internal use by the MotoLogix interface but the it contains also some useful variables for programming or troubleshooting. We have listed the interesting variables below.
Top level
Version information
Signals
MLX.Signals.MLXGatewayConnectedMLX.Signals.ManualModeMLX.Signals.RemoteModeMLX.Signals.EStop1PressedMLX.Signals.EStop3PressedMLX.Signals.GuardCircuitOpenMLX.Signals.AllDrivesDisabledMLX.Signals.SafetyCircuitOKMLX.Signals.PendantConnectedMLX.Signals.ServoOnReady
IO
The MotoLogix data packet includes 8 bytes for common use (in both directions).
These can be mapped in the robot controller’s
CIOPRG.LST.Communication watchdog
System commands
In case of a “hanging” system command (because the
Enable input of a system
command was reset too early)
you want to inspect/reset the ...Cmd signals in this structure.Robot information
MLX.Robot.NameMLX.Robot.ConfigurationDataMLX.Robot.CubicIZStatusMLX.Robot.BasePoseMLX.Robot.ToolPoseMLX.Robot.ActiveUserFrameNumberMLX.Robot.ActiveToolNumberMLX.Robot.RobotAxes.ConfigurationData.FeedbackUserDataTypeMLX.Robot.RobotAxes.FeedbackData.CommandedPositionMLX.Robot.RobotAxes.FeedbackData.UserData