Allen-Bradley 1756-HYD02 User Manual page 208

Chapter 4 Geometries with orientation support
208
Program the MCPM target points as absolute move - MoveType = 0
The target position and orientation of any point defined has six coordinates
XYZRxRyRz.
The translation coordinates are the coordinates of target point with respect to the
base coordinate systems. The orientation coordinates are fixed angle rotations first
around X axis followed by second rotation around Y axis of the fixed robot base
frame and third rotation around Z axis of the fixed robot base frame.
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018