Multi-Axis Coordinated Motion Instructions
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 409
Operand Data Type Format Description
Robot Turns Counters INT16[4] Tag A counter indicating the number of times the 180
degree point is crossed in the +/- direction that
the respective axis has turned.
If Transform Direction is Forward, the value is
computed by the system and returned via this
tag. If Transform Direction is Inverse, this value
determines final joint positions.
The following are array index assignment for the
joint axes turns count:
Index 0 - J1 axis
Index 1 - J4 axis
Index 2 - J6 axis
Index 3 - Reserved
Outputs
Operand Data Type Format Description
Transform Position REAL[6] Tag Array that stores the calculated position.
Robot Turns Counters INT16[4] Tag If Transform Direction is Forward, this value is
computed by the system and returned via this
tag.
Robot Configuration DINT Tag If Transform Direction is Forward, then this value
is computed by the system and returned via this
tag.
For Delta Robot geometries, robot configuration
output is always zero.
Fault Codes
For the Motion Coordinated Transform with Orientation (MCTO) instruction,
an error will occur at runtime if invalid operand values are provided.
Extended Error Codes
Extended Error codes provide additional instruction-specific information for the
Error Codes that are generic to other instructions. See Motion Error Codes (ERR)
for Motion Instructions. Extended Error Codes meaning depends on the
corresponding Error Codes.
Error Code EX_ERROR Code Description
61 1 Connection Conflict
Transform Motion Group Error
Cartesian or Robot coordinate system is ungrouped or associated to a different
motion group from the other.
61 2 Connection Conflict
Transform Duplicate Systems Error
Operand 0 and Operand 1 are the same coordinate system type
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