MLX300 - Explanation of the Teach Point Config Number

The MLX300 Teach Screen on the robot pendant includes a Config number with the teach point data.  The Config number is generated to from the Pose of the robot for the particular position. Some TCP positions can have a different pose of the robot and still provide the same TCP point and orientation of the tool. This document will explain how the Config number is generated.

MLX300 Teach Screen Current Position Display

When you teach a point on the MLX300 Teach screen, the “Current Position” data will be sent to the PLC and the screen will update with same data shown under the “Selected Point” data.    The Example below shows the Config data is 4.

Robot Controller Position Variable Data

Referring to the position variable data shown on the robot pendant, the “Type” data explains the pose of the robot for the TCP location.

The chart below explains each of the 6 pose definitions, which were shown on the Position-Variable screen.

Config Number Binary Bit Definition

On the MLX300 Teach screen the Config number is a bit code representation of the pose information.  

Each “D” number below is a bit value corresponding to a power of two.

D00 = 1  ->  Bit value is 1
D01 = 1  ->  Bit value is 2  
D02 = 1  ->  Bit value is 4    (2^2  = 4)
D03 = 1  ->  Bit value is 8  
D04 = 1  ->  Bit value is 16  
D05 = 1  ->  Bit value is 32  
D06 = 1  ->  Bit value is 64

For the example of the Config = 4 on the MLX300 Teach screen, it would indicate a pose of:

Front, Upper Arm, No Flip, R,T,S<180 deg, and L<0 deg.

All the D values are added to obtain the Config number.