Allen-Bradley 1756 ControlLogix - Motion Calculate Transform Position (MCTP)

Multi-Axis Coordinated Motion Instructions
Chapter 6
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 361
This information applies to the CompactLogix 5370, ControlLogix 5570,
Compact GuardLogix 5370, GuardLogix 5570, Compact GuardLogix 5380,
CompactLogix 5380, CompactLogix 5480, ControlLogix 5580, and GuardLogix
5580 controllers.
Important:
You can also use this instruction with the following controllers:
1756-L6 controllers
1756-L7S controllers
1769-L18ERM controllers
1769-L27ERM controllers
1769-L30ERM controllers
1769-L33ERM controllers
1769-L36ERM controllers
Use the MCTP instruction to calculate the position of a point in one coordinate
system to the equivalent point in a second coordinate system.
Important:
Tags used for the motion control attribute of instructions should only be
used once. Re-use of the motion control tag in other instructions can cause
unintended operation. This may result in damage to equipment or
personal injury.
Available Languages
Ladder Diagram
Function Block
This instruction is not available in function block.
Structured Text
MCTP(Source System, Target System, Motion Control, Orientation,
Translation, Transform Direction, Reference Position, Transform Position);
Motion Calculate
Transform Position (MCTP)