Allen-Bradley 1756-HYD02 User Manual page 212

Chapter 4 Geometries with orientation support
212
Teach positions for PATH_DATA target points for MCPM instructions
using Coordinate System turns counter data
This section explains entering target points for turns counter. The system has
turns counter template attributes for coordinate systems tag which keep track of
turns counter once the MCTO is enabled on the coordinate system. If MCTO is
not enabled these field get set to +128. The following figure shows the template
information with the MCTO enabled. At any point the robot can be moved to
desired position using HMI panel and the turns counter data along with Cartesian
data can be used to program the target point for the MCPM move.
Getting positions for PATH_DATA target points for MCPM instruction
using MCTPO turns counter data
Sometimes after powerup or shutdown, only joint positions are known while
continuing from the current position. Use the MCTPO instruction to transform
a point in joint target point to Cartesian target point by executing the MCTPO
instruction perform a forward transform. At any point, use the MCTPO
instruction to retrieve pertinent information like position, configuration, and
turns counter. Use this data to program the target Cartesian point for MCPM
Cartesian move. The following rung shows typical set up for MCTPO instruction.
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018