Cartesian coordinate system
46 Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
The linear and orientation vector components of the MCPM moves are blended
simultaneously.
The MCPM instruction supports blending through the Blending Termination Type 6.
The other blending termination types (Termination Types 2 and 3) are not supported for
the MCPM instruction.
• The Termination Type for MCPM is specified via the PATH_DATA member variable
TerminationType.
The Cartesian position where blending should start is specified in the PATH_DATA
structure member CommandToleranceLinear.
For orientation path blending, there is no equivalent programmable parameter to
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