Allen-Bradley 1756 ControlLogix - Motion Coordinated Transform (MCT)

Chapter 6
Multi-Axis Coordinated Motion Instructions
476 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
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 use this instruction with the following controllers:
1756-L6 controllers
1756-L7 controllers
1756-L7S controllers
1756-L8 controllers
1769-L18ERM controllers
1769-L27ERM controllers
1769-L30ERM controllers
1769-L33ERM controllers
1769-L36ERM controllers
Use the MCT instruction to start a transform that links two coordinate systems
together. This is like bi-directional gearing. One way to use the transform is to
move a non-Cartesian robot to Cartesian positions.
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
MCT(Source System, Target System, Motion Control, Orientation, Translation);
Motion Coordinated
Transform (MCT)