MLX300: How to Execute an INFORM job with the MLX300

On occasion, there has been a need for the MLX300 to execute a robot controller INFORM job. The reason for this is that there are a few standard controller functions that were not supported by the MLX300. A MLX300 program and a robot controller INFORM job can function at the same time as long as they both are not commanding motion.   

In the past customers had requirements to use the High-Speed Search function or Servo Float. However, the MLX300 did not have AOIs to support these functions. To resolve this, the MLX300 was program the call a robot Master Job and execute it. A few years later YEC developed standard MLX300 AOIs to support these two functions.

Recently, there was another application where the customer wanted to use Endless Rotation, but there was no MLX300 AOI available for the MRESET command.

This document will describe a new MLX300 AOI that was developed to execute a robot controller Master Job.   

• MLxCall_RobotController_MasterJob_AOI

Robot Controller Job

Create a robot controller INFORM job that you would like the MLX300 to execute. The only requirement is that Output 73 is turned on when the job has been completed to notify the PLC software.

The example shown below will command an IMOV using a P-variable. The IMOV command could be replaced with a sequence of commands for a particular application. After the INFORM job is created, set it to be the Master Job.

Robot Controller I/O

Robot Controller Outputs

Robot Controller Inputs

Note that Output 73 will turn on Input 19. The MLX300 controls the first 64 outputs. Since the robot pendant or INFORM job is unable to turn on these outputs, a higher number Output 73 was used.

CIO Change File

Example Implementation

The PLC ladder shown below is an example of the Master Job being called with the IMOV command for an incremental motion. This rung was inserted in between two rungs that had MLX300 motion commands. Timer delays were required before and after the Master Job Call to successfully transition between MLX300 motion and INFORM motion. When the MLxCall_RobotController_MasterJob AOI completes, the .Sts_DN bit will turn on and the logic will continue to the next step.