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Allen-Bradley 1756-HYD02 User Manual page 130

Motion coordinate system
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Chapter 4
Geometries with orientation support
130
Important:
Even though the trends for Rx, Ry and Rz may look discontinuous, the transformations generate smooth
trends for corresponding J4, J5 and J6 axes.
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
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