Allen-Bradley 1756-HYD02 User Manual page 206

Chapter 4 Geometries with orientation support
206
Tip: The Joint Cartesian coordinate system described here is not intended for use as the Cartesian
coordinate system operand of the MCTO instruction.
Align Cartesian and Robot Coordinate systems
The following ladder logic illustrates moving the robot coordinate system to an
initial position before enabling the transformation. The transformation sets up the
robot to a known position.
Set up Master Driven instructions for Cartesian dynamics control
This ladder logic illustrates setting up the Master Driven Speed Control (MDCC)
instruction and jogging the master axis for the application.
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018