Multi-Axis Coordinated Motion Instructions
362 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Operands
Ladder Diagram and Structured Text
Operand Type Format Description
Source System COORDINATE_SYSTEM Tag Cartesian coordinate system for Cartesian positions of the
robot
Target System COORDINATE_SYSTEM Tag Non-Cartesian coordinate system that controls the actual
equipment
Motion Control MOTION_INSTRUCTION Tag Control tag for the instruction.
Translation
REAL[3] Array
Do you want to offset the target position along the X1, X2, or
X3 axis?
If Then
No Leave the array values at zero.
Yes Enter the offset distances into the array. Enter
the offset distances in coordinate units. Put
the offset distance for X1 in the first element
of the array, and so on.
Use an array of three REALs even if a coordinate system has
only one or two axes.
Operand Type Format Description
Transform Direction DINT Immediate
For Robot Type To calculate With the base
turned to the
And the robot is Select
All Cartesian Position
Forward
Cartesian Delta 2D Delta
3D SCARA Delta
Joint Angles
Inverse
Articulated Independent
Articulated Dependent
SCARA Independent
Joint Angles
Same Quadrant as the
Point
Right Arm
Configuration
Inverse Right
Arm
Left Arm
Configuration
Inverse Left
Arm
Opposite Quadrant
from the Point
Right Arm
Configuration
Inverse Right
Arm Mirror
Left Arm
Configuration
Inverse Left
Arm Mirror
Reference Position REAL[3] Array If the transform direction is: Then enter an array that has the:
Forward Joint Angles
Inverse Cartesian Positions
Transform Position REAL[3] Array Array that stores the calculated position
Enter the transform direction without spaces. For example, a transform direction
of Inverse Left Arm is entered as InverseLeftArm.
See Structured Text Syntax for more information on the syntax of expressions
within structured text.
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