MotomanSync functionality supported with MSync group with PLCopen Part4 layout
| Version Number | Description |
|---|---|
| 1.0 |
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|
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This note provides the list of functionality from Motologix and shows which functionality is supported and with which function block in iCube Engineer
1. Table of comparison
| Motologix function | MSync function name | MSync FB Available to User | Used in PLCopenPart4 Function | ICE toolbox version | Comment |
|---|---|---|---|---|---|
| MLxHold | Y_MS_GroupInterrupt | N | MC_GroupInterrupt | 2024.9 | |
| MLxReset | Y_MS_GroupReset | N | MC_GroupReset | 2024.9 | |
| MLxResetAndHold | Y_MS_GroupResetAndHold | N | - | ||
| MLxRestart | Y_MS_GroupContinue | N | MC_GroupContinue | 2024.9 | |
| MLxStop | Y_MS_GroupStop | N | MC_GroupStop | 2024.9 | |
| MLxRobotMoveAxisAbsolute | Y_MS_MoveDirectAbsolute | N | MC_MoveDirectAbsolute | 2024.9 | |
| MLxRobotMoveAxisRelative | Y_MS_MoveDirectRelative | N | MC_MoveDirectRelative | 2024.9 | |
| MLxRobotMoveAxisPvarAbsolute | - | N | - | ||
| MLxRobotMoveLinearAbsolute | Y_MS_MoveLinearAbsolute | N | MC_MoveLinearAbsolute | 2024.9 | |
| MLxRobotMoveLinearRelative | Y_MS_MoveLinearRelative | N | MC_MoveLinearRelative | 2024.9 | |
| MLxRobotMoveLinearPvarAbsolute | - | N | - | ||
| MLxRobotSetDigitalOutputWithMot | - | N | - | ||
| MLxRobotJogAxes | Y_MS_RobotJog | N | Y_GroupJogJoint | 2024.9 | Note in ICE safety input and teach mode is needed to move the Robot in jog mode. |
| MLxRobotJogAxesToPoint | Y_MS_RobotJog | N | Y_GroupJogDirect | 2024.9 | Note in ICE safety input and teach mode is needed to move the Robot in jog mode. |
| MLXRobotJogTCP | Y_MS_RobotJog | N | Y_GroupJogTCP | 2024.9 | Note in ICE safety input and teach mode is needed to move the Robot in jog mode. |
| MLxRobotJogTCPToPoint | Y_MS_RobotJog | N | Y_GroupJogLinear | 2024.9 | Note in ICE safety input and teach mode is needed to move the Robot in jog mode. |
| MLxRobotCoordinateTransform | Y_MS_RobotCoordTransform | N | Y_CalcCoordTransform | 2024.9 | |
| MLxRobotSetBasePose | Y_MS_RobotSetBasePose | N | Y_GroupSetFrameOffset | 2024.9 | |
| MLxRobotSetCubicIZByCenterPoint | Y_MS_RobotSetIZCenterPoint | N | Y_ActivateIZ | 2024.9 | |
| MLxRobotSetCubicIZByTwoCorners | Y_MS_RobotSetIZTwoCorner | N | Y_ActivateIZ | 2024.9 | |
| MLxRobotSetFrameShift | Y_MS_SetFrameShift | N | MC_TrackConveyorBelt | 2024.9 | |
| MLxRobotSetToolProperties | Y_MS_RobotSetToolProp | N | Y_DefineTool | 2024.9 | |
| MLxRobotSelectTool | Y_MS_RobotSelectTool | N | Y_SelectTool | 2024.9 | |
| MLxRobotSetUserFrame | Y_MS_RobotSetUserFrame | N | Y_GroupSetFrameOffset | 2024.9 | |
| MLxRobotConvSyncStart | Y_MS_ConveyorSyncStart | N | MC_TrackConveyorBelt | 2024.9 | |
| MLxRobotConvSyncStop | Y_MS_ConveyorSyncStop | N | MC_TrackConveyorBelt | 2024.9 | |
| MLxRobotConvSyncStopWithAxisMot | Y_MS_StopConvDirMoveAbs | N | MC_MoveDirectAbsolute | 2024.9 | |
| MLxRobotConvSyncStopWithLinMot | Y_MS_StopConvLinMoveAbs | N | MC_MoveLinearAbsolute | 2024.9 | |
| MLxGetErrorDetail | Y_MS_GetErrorDetail | N | MC_GroupReadError | 2024.9 | |
| MLxGetModuleInfo | Y_MS_GetModuleInfo | N | Y_MS_Driver /Y_MS_INPACT_Driver | 2024.9 | |
| MLxReadDigitalInputs | Y_MS_ReadDigitalInputs | Y | - | 2024.9 | |
| MLxWriteDigitalOutputs | Y_MS_WriteDigitalOutputs | Y | - | 2024.9 | |
| MLxRobotGetHomeOffsets | Y_MS_GetHomeOffset | N | Y_GroupReadVectorParam | 2024.9 | |
| MLxRobotSetHomeOffsets | Y_MS_SetHomeOffset | N | MC_GroupSetPosition | 2024.9 | |
| MLxRobotGetProperties | Y_MS_RobotGetProperties | N | Y_MS_Driver /Y_MS_INPACT_Driver | 2024.9 | |
| MLxRobotSetProperties | Y_MS_RobotSetProperties | N | - | ||
| MLxRobotPositionVariableGet | Y_MS_PVarsGet | N | - | ||
| MLxRobotPositionVariableSet | - | N | - | ||
| MLxBvarsGet | - | N | - | ||
| MLxBvarsSet | - | N | - | ||
| MLxIvarsGet | - | N | - | ||
| MLxIvarsSet | - | N | - | ||
| MLxDvarsGet | - | N | - | ||
| MLxDvarsSet | - | N | - | ||
| MLxRvarsGet | - | N | - | ||
| MLxRvarsSet | - | N | - | ||
| MLxSvarsGet | - | N | - | ||
| MLxSvarsSet | - | N | - | ||
| MLxWriteApplicationDataToYRC | - | N | - | ||
| MLxGetConfigLog | - | N | - | ||
| MLxGetLimitStatus | Y_MS_RobotReadLimitStatus | N | Y_GroupReadBoolParam | 2024.9 | |
| MLxSetLimitStatus | Y_MS_RobotWriteLimitStatus | N | Y_GroupWriteBoolParam | 2024.9 | |
| MLxGetSafetyCRC | Y_MS_GetSafetyCRC | Y | - |
2025.6 |
|
| MLxRobotCalcToolCalib | - | N | - | ||
| MLxRobotGetCollisionDetectionStatus | Y_MS_GetCollisionStatus | N | Y_GroupReadVectorParam (Parameter 2900) | 2024.9 | Reads the current collision detection level (in % of rated torque) of all axes. If the measured torque of an axis (see parameter 2901) is higher than the collision detection level, the robot will generate an alarm and stop ongoing motion. |
| MLxRobotGetCollisionDetectionTorque | Y_MS_GetCollisionTorque | N | Y_GroupReadVectorParam (Parameter 2901) | 2024.9 | Reads the measured torque (in % of rated torque) of all axes. Y_GroupReadVectorParam will update the measured values only on the rising edge of the 'Enable' input. |
| MLxRobotResetCollisionDetectionTorque | Y_MS_ResetCollisionTorque | N | Y_GroupWriteBoolParam (Parameter 2902) | 2024.9 | Resets the maximum detected torque levels reported via parameter 2901. Note: The 'Value' input of Y_GroupWriteBoolParam will be ignored when using this parameter, meaning that the maximum detected torque levels will be reset on the rising edge of the 'Execute' input of the Function Block. |
| MLxRobotSelectCollisionDetection | Y_MS_SetCollisionLevels | N | Y_GroupWriteVectorParam (Parameter 2900) | 2024.9 | File selection is not possible. Writing to parameter 2900 with Y_GroupWriteVectorParam will write into a temporary file and directly use the vector information as the current collision detection level. |
| MLxRobotSetCollisionDetectionProperties | Y_MS_SetCollisionDefault | N | Y_GroupWriteVectorParam (Parameter 2900) |
2024.9 |
File selection is not possible. Writing to parameter 2900 with Y_GroupWriteVectorParam will write into a temporary file and directly use the vector information as the current collision detection level. |
| MLxRobotSetCollisionDetectionStatus | Y_MS_SetCollisionStatus | N | - | 2025.6 | |
| MLxRobotGetSearchPosition | Y_MS_RobotGetSearchPosition | N | - | 2025.6 | |
| MLxRobotGetSearchResult | Y_MS_RobotGetSearchResult | N | - | 2025.6 | |
| MLxRobotSetSearch | Y_MS_RobotSetSearch | N | - | 2025.6 | |
| MLxRobotResetSearch | Y_MS_RobotResetSearch | N | - | 2025.6 | |
| MLxRobotMoveAxisAbsoWithBase | - | N | - | ||
| MLxRobotMoveAxisRelaWithBase | - | N | - | ||
| MLxRobotMoveLinAbsoWithBase | - | N | - | ||
| MLxRobotMoveLinRelaWithBase | - | N | - | ||
| MLxRobotSetServoFloatOff | Y_MS_RobotSetServoFloatOff | N | - | 2025.6 | |
| MLxRobotSetServoFloatOn | Y_MS_RobotSetServoFloatOn | N | - | 2025.6 | |
| MLxRobotSetServoFloatProperties | Y_MS_RobotSetServoFloatProperties | N | - | 2025.6 | |
| MLxSetGlobalParameter | Y_MS_SetGlobalParameter | N | MC_GroupSetOverride | 2024.9 |