Allen-Bradley 1756-HYD02 User Manual page 207

Geometries with orientation support Chapter 4
Initiate Transform instructions
This ladder logic illustrates enabling the transform instruction between the source
Cartesian coordinate system and target 5 axis Delta robot system.
Move the source side to the desired target positions using MCPM path data
with turns counter specifications
Refer to this ladder logic to command the robot to move to a target point in the
Cartesian space specified by an element of an array of PATH_DATA points. See
MCPM programming instructions and sample programs for details on ladder logic
to move the robot through a series of such points.
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018 207