Allen-Bradley 1756-HYD02 User Manual page 211

Geometries with orientation support Chapter 4
The trends and tables show the complete specification of Cartesian target point
for joint angles in the span of J6 travel.
These PATH_DATA points show typical target point specification for the
MCPM instructions for the rung input in an excel spreadsheet for Delta J1J2J3J6
as absolute move with turns counter.
Program the MCPM target points in incremental mode - MoveType = 1
The incremental moves are programmed differently and are not restricted to +/-
180 . Program multiple turns using just positive or negative displacements more
than one turn. The system also enforces turns counters set to 0 in incremental
move.
These PATH_DATA points show typical target point specification for the
MCPM instructions for the rung input in an excel spreadsheet for Delta J1J2J3J6
as incremental move with turns counter.
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Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018