Allen-Bradley 1756-HYD02 User Manual page 41

Cartesian coordinate system
Geometry tab
On the Geometry tab, the Link Length and Zero Angle Orientation parameters
are unavailable. These parameters are not applicable for the Cartesian coordinate
system.
Offsets tab
Set the Coordinate Definition to <none>, then click the Offsets tab to configure
the End Effector Offsets and the Base Offsets.
The available parameters depend on the Transform Dimension value.
Tip: The Base Offsets and End Effector Offsets parameters are unavailable if the Coordinate Definition is
XYZRxRyRz.
Dynamics tab
The Dynamics tab is only valid for a Cartesian coordinate system. Use the tab to
configure the orientation values required for the Motion Coordinated Path Move
(MCPM) instruction:
•
Orientation Maximum Speed
•
Orientation Maximum Acceleration
•
Orientation Maximum Deceleration
The Orientation parameters are only available on the Dynamics tab when Type
is Cartesian and Coordinate Definition is XYZRxRyRz. The orientation values
are always in units of degrees.
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
Chapter 2
41