Multi-Axis Coordinated Motion Instructions
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 365
Data Flow of MCTP Instruction Between Two Coordinate Systems
The following illustrations show the flow of data when an MCTP Instruction is
executed to perform a forward transformation and an inverse transformation. The
CS1 indicator represents a Cartesian coordinate system containing X1, X2 and X3
axes as the source of the MCTP instruction. The CS2 indicator represents the
joint coordinate system containing J1, J2 and J3 axes as the target of the MCTP
instruction.
Data Flow When a Move is Executed with an MCTP Instruction - Forward
Transform
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