Multi-Axis Coordinated Motion Instructions
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 371
Configure an MCTO instruction
The following illustration shows how to configure an MCTO instruction, with
the Cartesian coordinate system as the source and the Delta 5 axis geometry as the
target. Configure the source and target coordinate systems in the coordinate
system dialog box.
Data flow during forward transform when MCTO is active
A forward transform executes when a move executes on joint coordinates of a
robot system with an enabled MCTO instruction. During forward transform, the
current joint angle positions compute the corresponding Cartesian coordinate
positions based on geometry.
To Next Page
Loading...
