MLX300: How to Avoid Losing Tool Data

With the new MLX300 Teach Screen on the robot pendant, the optional MLX300 pendant (Proface or MobileView) is no longer required.   All teaching and setup operations can now be done on the robot pendant.   However, there could be an issue with losing a section of the tool data.   This document will explain how to avoid this issue.

MLX300 Teach Screen

The MLX300 needs the tool data and user frame data that is setup on the robot pendant so that it can execute it’s AOIs.   The method used to send this information to the PLC happens when the MLX Teach Screen is launched.   During this startup, the robot controller will copy a predefined number of Tools and User Frames to the PLC.   During the launch, the screen will report which Tools and User Frames are being transferred.  

Tool Data Lost

When the Tool Data is transferred to the PLC, it is transferred in a P-Variable.    There is only so much information that can be packed in a P-Variable, so half of the information doesn’t get transferred.   Only the Tool Offsets will be transferred to the PLC.   The Center of Gravity, Moment of Inertia, and Mass data doesn’t get transferred.  

MLX Tool Commands

• To resolve this issue, only use the “MLxRobotSelectToolNumber” command in the PLC program.    This AOI won’t transfer PLC tool data to the robot controller.   It will only select a tool number inside the controller and make it active.
• Never use the “MLxRobotSetTool_InTeachMode” command in the PLC program.    This AOI will transfer the PLC tool data to the robot controller and make it active.     The mass of the tool will be set to zero, which will cause the robot to move much slower.   With a 0 weight, the controller assumes the data wasn’t entered and internally sets the weight to the max payload.