MLX100-MLX200 - Converting the YEC Robot Home Data to the MLX Format

The MLX100 was developed by Agile Planet and they used a different format for the robot home data. This document will explain how to convert the YEC home data included with the robot to the MLX100 or MLX200 home data format.

Home Data Conversion Spreadsheet

The YEC home data usually can be found under one of the robot arms casting covers on a sticker. Once this data is found, it should be entered into the SSGW-358 spreadsheet. Before entering this data, select the tab for the correct robot model at the bottom. Enter the robot home data from the sticker into the “yellow” zone of the spreadsheet. The “green” zone will show the values that are calculated for the MLX100 home data. The spreadsheet also shows the MLX200 home data in the “blue” zone.

Robot Configuration Screen

On the Main screen of the MLX100 HMI, press the [Menu] button and select [Robot Configuration]. Enter the pulse “Home Offset” data that was calculated from the spreadsheet above. For the MPL160 robot example below, the MLX100 uses axis names A0, A1, A2, A3, which correspond to the YEC axis names S, L, U, T.

Press the [Save Home Offsets] to save the home data to the MLX100 gateway card.