Allen-Bradley 1756-M08SE - Configure a Cartesian Gantry Robot; Establish the Reference Frame for a Cartesian Gantry Robot; Identify the Work Envelope for a Cartesian Gantry Robot; Define Configuration Parameters for a Cartesian Gantry Robot

Geometries with no orientation support
Chapter 3
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018 111
To establish a Local coordinate system with axes positions different from the
reference frame, use the Motion Redefine Position (MRP) instruction to reset the
position register. Also use the Offset Vector in the MCT transform instruction to
establish an offset between the Local coordinate system and the reference frame.
For more information about Motion Instructions, see
Logix 5000 Controllers
Motion Instructions Reference Manual, publication MOTION-RM002.
The work envelope for a Cartesian Gantry robot is typically a solid rectangle of
length, width, and height that is equal to the axis travel limits.
Defining the link lengths, base offset, or end-effector offset configuration
parameters is not required for a Cartesian Gantry robot.
Identify the work envelope for
a Cartesian Gantry robot
Define configuration
parameters for a Cartesian
Gantry robot