Allen-Bradley Studio 5000 Logix Emulate User Manual

Multi-Axis Coordinated Motion Instructions
Chapter 6
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 407
Configuration
The following table provides the operands used to configure the instruction.
These operands cannot be changed at runtime.
Operand Data Type Format Description
Cartesian System COORDINATE_SYSTEM Tag Cartesian coordinate system used to program the
moves.
Robot System COORDINATE_SYSTEM Tag Non-Cartesian coordinate system that controls the
actual equipment.
Motion Control MOTION_INSTRUCTION Tag The control tag for the instruction
Work Frame POSITION_DATA Immediate Tag Work Frame offsets are the offsets used to locate
the user Work frame of the Robot relative to the
origin of the Robot base frame. These offsets
consist of an XYZ and RxRyRz value. This allows the
programs to be written in the user work space or
world frame and transformed to the Robot base
frame.
To rotate the target position around the X, Y, or Z
axis or offset the target position along the X, Y, or Z
axis of the Robot base coordinate system, enter the
degrees of rotation into the Rx, Ry, and Rz tag
members in units of degrees of rotation. Enter the
offset distances into X, Y, and Z tag members in
coordination units. Set the ID member to a value
greater than or equal to zero.
To maintain the work frame at the robot base
frame, leave structured values at zero, or set the
operand tag value to zero.
Tool Frame POSITION_DATA Immediate Tag Tool Center Point (TCP) offsets are the offsets used
to locate the tool center relative to the center of the
End of Arm. These offsets consist of an XYZ and
RxRyRz value.
To have the target position account for an attached
tool having translation and/or orientation offsets,
enter the tool offset distances into X, Y, and Z tag
members in coordination units. Enter the degrees
of tool rotation into the Rx, Ry, and Rz tag
members in units of degrees of rotation. Set the ID
member to a value greater than or equal to zero.
To have the target position reflect only the point at
the end-of-arm, leave the structure values at zero,
or set the operand tag value to zero.
Affects Math Status Flags
No
Major/Minor Faults
None specific to this instruction. See Index Through Arrays for array-indexing
faults.

Allen-Bradley Studio 5000 Logix Emulate Specifications

General

Brand	Allen-Bradley
Model	Studio 5000 Logix Emulate
Category	Controller
Language	English