Multi-Axis Coordinated Motion Instructions
370 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
to the joint target position along a non-Cartesian path. While MCTO instruction
is active, the system maintains the coordinate system related data for Cartesian and
Robot coordinate systems.
This diagram illustrates the transformation from a Cartesian coordinate
system(X,Y,Z,Rx,Ry,Rz) to a Delta robot geometry with 5 axes (J1J2J3J4J5). The
Rx, Ry, and Rz represent orientations around X,Y,Z axes in a positive direction.
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