Allen-Bradley Studio 5000 Logix Emulate

Multi-Axis Coordinated Motion Instructions
Chapter 6
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 413
This example illustrates the MCTPO instruction with Transform Direction as
Forward. The target positions are guided into the Reference position operand as
input. The instruction computes the corresponding Cartesian positions and turns
counter as the output.
Structured Text
MCTPO(CS1, CS2, MCTPo1[0], BaseFrame, ToolFrame, Forward, refPos[0],
transPos[0], robotConfig[0], TurnsCounter[0]);
See also
Structured Text Syntax on page 635
Index Through Arrays on page 663
Motion Error Codes (.ERR) on page 557
Multi-Axis Coordinated Motion Instructions on page 345