Cartesian coordinate system
48 Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
• Second move: horizontal (Y) move to the target position 600 millimeters.
• Third move: vertical move 300 millimeters down to the target position.
• The orientation of (Rz) must change by +50.0
by the end of the move
trajectory.
• The orientation is prohibited from moving for the first 200 millimeters of
move 1, and also prohibited from moving the final 250 millimeters.
Move 1 PATH_DATA Move 2 PATH_DATA Move 3 PATH_DATA
The vertical move is configured with termination type 6 and
the desired command tolerance.
The horizontal move also is termination type 6 with command
tolerance.
The final vertical move is blended with the previous when
command tolerance is satisfied.
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