Multi-Axis Coordinated Motion Instructions
480 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Programming Guidelines
Follow these guidelines to use an MCT instruction.
Important:
Do not let the robot get fully stretched or fold back on itself. Otherwise it
can start to move at a very high speed. In those positions, it loses its
configuration as a left or right arm. When that happens, it can start to
move at a very high speed.
Determine the working limits of the robot and keep it within those limits.
Set up a coordinate system of axes for the Cartesian positions of the robot
These axes are typically virtual.
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