140 Rockwell Automation Publication 1756-RM100F-EN-P - October 2018
Chapter 6 Instruction Execution
MCT/MCTP Instructions
The Motion Coordinated Transform (MCT) and Motion Calculate
Transform Position (MCTP) instructions are different with respect to source
and target transform dimensions.
With version 29 or earlier, the controllers allowed the following MCT/MCTP
associations:
• Cartesian-Cartesian (TD=[1,2],[1,3],[2,3])
• Cartesian-Articulated independent and dependent (TD=[2,3])
Version 30 or later does not support cases where the Coordinate System
Dimension is not Equal to the Transform Dimension, and checks to make sure
the dimensions match.
If the dimensions do not match, the Motion Instruction Status will show Error
Code 61, with extended Error Code 17: "Make sure the Transform Dimension
attribute on the Source and Target are equal."
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