Multi-Axis Coordinated Motion Instructions
372 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Data flow during inverse transform when MCTO is active
When MCTO is active, during inverse transform, the instruction uses the current
cartesian positions and geometry configuration to compute the corresponding
joint angle positions. MCTO returns an Error 61 when moving both Cartesian
and Joint coordinate systems simultaneously.
Fault codes
For the Motion Coordinated Transform with Orientation (MCTO) instruction,
an error will occur at runtime if invalid operand values are provided.
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