Allen-Bradley 1756-HYD02 User Manual page 46

Chapter 2 Cartesian coordinate system
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• The linear and orientation vector components of the MCPM moves are blended
simultaneously.
• The MCPM instruction supports blending through the Blending Termination Type 6.
The other blending termination types (Termination Types 2 and 3) are not supported for
the MCPM instruction.
• The Termination Type for MCPM is specified via the PATH_DATA member variable
TerminationType.
The Cartesian position where blending should start is specified in the PATH_DATA
structure member CommandToleranceLinear.
• For orientation path blending, there is no equivalent programmable parameter to
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018