Allen-Bradley 1756-HYD02 User Manual page 210

Chapter 4 Geometries with orientation support
210
Tip: Turns counters are only valid if MCTO is enabled on the Cartesian coordinate system. MCPM with nonzero
turns counter will error if the MCTO is not enabled on the Cartesian coordinate system.
For programming the multi-turn axis, such as J6 for Delta J1J2J3J6, specify the
shortest or longest path for J6 axis by specifying the Rz position and turns counter.
See the following diagram for absolute moves.
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018