Allen-Bradley ControlLogix 1756-HYD02 User manual

User Manual
Motion Coordinate System
1756-HYD02, 1756-M02AE, 1756-M02AS, 1756-M03SE, 1756-M08SE, 1756-M16SE, 1768-M04SE

Important user information
Read this document and the documents listed in the additional resources section about installation, configuration, and operation of this equipment
before you install, configure, operate, or maintain this product. Users are required to familiarize themselves with installation and wiring instructions
in addition to requirements of all applicable codes, laws, and standards.
Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are required to be carried out by
suitably trained personnel in accordance with applicable code of practice. If this equipment is used in a manner not specified by the manufacturer,
the protection provided by the equipment may be impaired.
In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use or application of this
equipment.
The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements associated
with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for actual use based on the examples and
diagrams.
No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software described in this
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Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation, Inc., is prohibited.
Throughout this manual, when necessary, we use notes to make you aware of safety considerations.
WARNING:Identifies informationabout practices orcircumstances that cancause an explosio
n in a hazardous environment, which may lead to
personal injury or death, property damage, or economic loss.
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RockwellAutomationPublicationMOTION-UM002F-EN-P- February 2018 3
Summary of changes
This manual contains new and updated information. Use these reference tables to
locate new or changed information.
Grammatical and editorial style changes are not included in this summary.
Global changes
This table identifies changes that apply to all information about a subject in the
manual and the reason for the change. For example, the addition of new supported
hardware, a software design change, or additional reference material would result
in changes to all of the topics that deal with that subject.
Subject Reason
Updated organization throughout. To incorporatedthe new geometries and coordinate systems that
supportorientation.
New or enhanced features
This table contains a list of topics changed in this version, the reason for the
change, and a link to the topic that contains the changed information.
Topic Name Reason
Preface on page 11 Updatedthe list ofmotion coordinatedmotion
applications to include instructions that support
orientation.
Sample Projectson page 11 Updated the default location and how to access the
PDF file that explains how to work with sample
projects.
Generaltabon page 22
Geometrytabon page 25
Units tabon page 26
Offsetstabon page 27
Jointstabon page 29
Dynamicstabon page 30
Motion Planner tab on page 33
Tag tabon page 34
Removed graphics and updated the parameter
descriptions.
Determinethe CoordinateSystem type on page 35 Moved this section to the first chapter and added the
new geometries.
Configure a Cartesian coordinate system on page 39 Added section to configure a Cartesian coordinate
system inthe CoordinateSystem Properties dialog
box.
Program coordinate systemwith no orientation on page 42 Added sectionto describe how to programa
coordinate system with no orientation.Includes a list
ofmulti-
axis coordinatedmotioninstructions to use.

Summary of changes
4RockwellAutomationPublicationMOTION-UM002F-EN-P- February 2018
Topic Name Reason
Program coordinate systemwith orientationon page 45 Added sectionto describe how to programa
coordinate system with orientation. Includesa listof
multi-axis coordinated motion instructions to use to
program Cartesianmoves onrobotswithorientation
control.
Geometries with noorientation supporton page 65 New chapter that provides the guidelines to
configure the 3-axis robot geometrieswithno
orientation support inLogix Designer, for example,
Articulate Independent andDependent robots,Delta
Two- and Three-dimensional robots,SCARA Delta
and Independent robots, and Cartesian Gantry and
H-bot robots.
Geometrieswithorientation support on page 115 New chapter that provides guidelines to configure
robot geometries withorientation support in Logix
Designer, for example,Delta J1J2J6 robot,Delta
J1J2J3J6 robot,and Delta J1J2J3J4J5 robot.Also
includes information about the Cartesian coordinate
system frame, defining frames for different robot
applications, turns counters, and mirror image
orientation behavior.

RockwellAutomationPublicationMOTION-UM002F-EN-P- February 2018 5
Tableofcontents
Sample projects ..........................................................................................................................11
Additional resources.................................................................................................................12
Legal Notices ..............................................................................................................................12
Chapter 1
Create a Coordinate System ..................................................................................................19
Edit Coordinate System properties......................................................................................21
Coordinate System Properties dialog box..........................................................................21
Coordinate System Properties dialog box - General tab........................................22
Coordinate System Properties dialog box - General tab parameters.........23
Coordinate System Properties dialog box - Geometry tab ...................................25
Coordinate System Properties dialog box - Geometry tab parameters.....25
Coordinate System Properties dialog box - Units tab............................................26
Coordinate System Properties dialog box - Units tab parameters .............26
Coordinate System Properties dialog box - Offsets tab.........................................27
Coordinate System Properties dialog box - Offsets tab parameters ..........28
Coordinate System Properties dialog box - Joints tab............................................29
Coordinate System Properties dialog box - Joints tab parameters.............29
Coordinate System Properties dialog box - Dynamics tab ...................................29
Coordinate System Properties dialog box - Dynamics tab parameters.....30
Manual Adjust dialog box - Dynamics tab........................................................32
Coordinate System Properties dialog box - Motion Planner tab........................33
Coordinate System Properties dialog box - Motion Planner tab
parameters...................................................................................................................33
Coordinate System Properties dialog box - Tag tab ...............................................34
Coordinate System Properties dialog box - Tag tab parameters.................35
Determine the Coordinate System type.............................................................................35
Chapter 2
Configure a Cartesian coordinate system..........................................................................39
Program coordinate system with no orientation.............................................................42
Blended moves and termination types with MCLM or MCCM.......................43
Example ladder diagram for blended instructions...................................................43
Program coordinate system with orientation ...................................................................45
Blending Path Moves with MCPM.............................................................................45
Use MCPM blending with orientation to synchronize Cartesian path and
orientation motion...........................................................................................................47
Superimposed motion with MCPM...........................................................................49
Bit state diagrams for blended moves..................................................................................51
Bit States at transition points of blended move by using actual tolerance or no
settle......................................................................................................................................51
Preface
Create and configure a
coordinate system
Cartesian coordinate system

Table of contents
6RockwellAutomationPublicationMOTION-UM002F-EN-P- February 2018
Bit States at transition points of blended move by using no decel .....................52
Bit states at transition points of blended move by using command tolerance53
Bit states at transition points of blended move by using follow contour
velocity constrained or unconstrained........................................................................54
Choose a termination type.....................................................................................................55
Chapter 3
Configure an Articulated Independent robot..................................................................65
Establish reference frame for an articulated independent robot.........................66
Methods to establish a reference frame for an articulated independent robot
................................................................................................................................................68
Method 1 - Establish a reference frame using zero angle orientation................68
Method 2 - Establish a reference frame using a MRP instruction......................69
Work envelope for articulated independent robot.................................................70
Configuration parameters for Articulated Independent robot...........................71
Link lengths for Articulated Independent robot.....................................................72
Base offsets for Articulated Independent robot.......................................................73
End-Effector Offsets for Articulated Independent robot.....................................74
Configure an Articulated Dependent robot.....................................................................75
Reference frame for Articulated Dependent robots...............................................76
Methods to establish a reference frame for an articulated dependent robot...78
Work envelope for articulated dependent robot.....................................................78
Configuration parameters for Articulated Dependent robot..............................79
Link lengths for Articulated Dependent robot........................................................80
Base offsets for Articulated Dependent robot..........................................................81
End-Effector Offsets for Articulated Dependent robot........................................82
Arm solutions.............................................................................................................................83
Left-arm and right-arm solutions for two-axes robots...........................................84
Solution mirroring for three-dimensional robots ...................................................84
Change the robot arm solution.....................................................................................85
Plan for singularity............................................................................................................86
Encounter a no-solution position................................................................................86
Delta robot geometries ............................................................................................................87
Configure a Delta Three-dimensional robot....................................................................87
Establish the reference frame for a Delta Three-dimensional robot..................89
Calibrate a Delta Three-dimensional robot..............................................................89
Alternate method for calibrating a Delta Three-dimensional robot.................90
Configure Zero Angle Orientations for Delta Three-dimensional robot .......90
Identify the work envelope for a Delta Three-dimensional robot .....................91
Maximum positive joint limit condition ...................................................................92
Maximum negative joint limit condition ..................................................................93
Define configuration parameters for a Delta Three-dimensional robot ..........94
Link Lengths for Delta Three-dimensional robot ..................................................94
Base Offsets for Delta Three-dimensional robot.....................................................95
End-Effector Offsets for Delta Three-dimensional robot....................................95
Geometries with no
orientation support

Table of contents
RockwellAutomationPublicationMOTION-UM002F-EN-P - February 2018 7
Configure a Delta Two-dimensional robot.......................................................................96
Establish the reference frame for a Delta Two-dimensional robot ....................97
Calibrate a Delta Two-dimensional robot ................................................................98
Identify the work envelope for a Delta Two-Dimensional robot.......................98
Define configuration parameters for a Delta Two-dimensional robot.............99
Link Lengths for Delta Two-dimensional robot..................................................100
Base Offsets for Delta Two-dimensional robot....................................................100
End-Effector Offsets for Delta Two-dimensional robot....................................101
Configure a SCARA Delta robot......................................................................................102
Establish the reference frame for a SCARA Delta robot ...................................103
Calibrate a SCARA Delta robot ...............................................................................104
Identify the work envelope for a SCARA Delta robot.......................................104
Define configuration parameters for a SCARA Delta robot............................105
Link lengths for SCARA Delta Robot....................................................................105
Base Offset for SCARA Delta Robot ......................................................................105
End Effector Offset for SCARA Delta Robot ......................................................105
Configure a Delta robot with a Negative X1b offset ..........................................106
Configure a SCARA Independent Robot......................................................................107
Establish the reference frame for a SCARA Independent robot.....................107
Identify the work envelope for a SCARA Independent robot.........................109
Define configuration parameters for a SCARA Independent robot..............109
Link lengths for SCARA Independent robot........................................................110
Configure a Cartesian Gantry robot................................................................................111
Establish the reference frame for a Cartesian Gantry robot..............................111
Identify the work envelope for a Cartesian Gantry robot..................................111
Define configuration parameters for a Cartesian Gantry robot ......................111
Configure a Cartesian H-bot robot..................................................................................112
Establish the reference frame for a Cartesian H-bot...........................................113
Identify the work envelope for a Cartesian H-bot...............................................113
Define configuration parameters for a Cartesian H-bot robot........................113
Chapter 4
Cartesian coordinate frame.................................................................................................115
Cartesian Point Specification.....................................................................................116
Transform representation of point...........................................................................118
Orientation specification.............................................................................................123
Point conversion ............................................................................................................125
RxRyRz, flip, mirror flip condition ..........................................................................126
Translation and rotation example.............................................................................132
Define coordinate system frames.......................................................................................134
Work frame offsets........................................................................................................137
Work frame examples...................................................................................................139
Tool frame offsets..........................................................................................................142
Tool frame example.......................................................................................................145
Configure a Delta J1J2J6 Coordinate System...............................................................147
Geometries with orientation
support

Table of contents
8RockwellAutomationPublicationMOTION-UM002F-EN-P- February 2018
Establish the reference frame for a Delta J1J2J6 robot.......................................149
Calibrate a Delta J1J2J6 robot ...................................................................................150
Configuration parameters for Delta J1J2J6 robot ...............................................151
Link Lengths for Delta J1J2J6 robot........................................................................151
Base and Effector Plate dimensions for Delta J1J2J6 robot ..............................152
Swing Arm Offsets for Delta J1J2J6 robot.............................................................153
Configuring offset variables in a GSV/SSV instruction.....................................154
Configure Zero Angle Orientations for Delta J1J2J6 robot.............................155
Identify the work envelope for Delta J1J2J6 robot..............................................156
Maximum joint limit condition for Delta J1J2J6 robot.....................................158
Work and Tool Frame offset limits for Delta J1J2J6 robot ..............................160
Invalid Cartesian positions .........................................................................................160
Configure a Delta J1J2J3J6 Coordinate System...........................................................161
Establish the reference frame for a Delta J1J2J3J6 robot...................................162
Calibrate a Delta J1J2J3J6 robot...............................................................................164
Configuration parameters for Delta J1J2J3J6 robot ...........................................165
Link Lengths for Delta J1J2J3J6 robot....................................................................166
Base and Effector Plate dimensions for Delta J1J2J3J6 robot..........................167
Swing Arm Offsets for Delta J1J2J3J6 robot.........................................................168
Configuring offset variables in a GSV/SSV instruction.....................................169
Configure Zero Angle Orientations for Delta J1J2J3J6 robot.........................170
Identify the work envelope for Delta J1J2J3J6 robot..........................................172
Maximum joint limit condition for Delta J1J2J3J6 robot ................................172
Work and Tool Frame offset limits for Delta J1J2J3J6 robot..........................174
Sample project for Delta J1J2J3J6 robot.................................................................175
Configure a Delta J1J2J3J4J5 Coordinate System.......................................................175
Establish the reference frame for a Delta J1J2J3J4J5 robot...............................177
Calibrate a Delta J1J2J3J4J5 robot...........................................................................178
Configuration parameters for Delta J1J2J3J4J5 robot .......................................180
Link Lengths for Delta J1J2J3J4J5 robot ...............................................................180
Base and Effector Plate dimensions for Delta J1J2J3J4J5 robot......................181
Swing Arm Offsets for Delta J1J2J3J4J5 robot ....................................................182
Coupling between J4 and J5 axis...............................................................................186
Configure Zero Angle Orientations for Delta J1J2J3J4J5 robot.....................188
Identify the work envelope for Delta J1J2J3J4J5 robot......................................190
Maximum joint limit condition for Delta J1J2J3J4J5 robot ............................190
Work and Tool Frame offset limits for Delta J1J2J3J4J5 robot......................192
Example of a Pick and Place application for Delta J1J2J3J4J5 robot.............193
MCPM mirror image orientation axis behavior...........................................................195
Mirror image Ry orientation......................................................................................196
Rx axis position in mirror non-flip and mirror flip regions...............................196
Rz axis position in mirror non-flip and mirror flip regions...............................197
Example of mirror image and flip behavior on Rx and Rz axes........................198
Mirror orientation restrictions..................................................................................198
Use MCPM to program Ry absolute moves for geometries with mirror image
position .............................................................................................................................199
Configure and program turns counters...........................................................................200

Table of contents
RockwellAutomationPublicationMOTION-UM002F-EN-P - February 2018 9
Program example for turns counter..................................................................................205
Chapter 5
Camming concepts................................................................................................................215
Mechanical camming....................................................................................................215
Electronic camming.......................................................................................................216
Cam Profiles ............................................................................................................................216
Position Cam Profile ....................................................................................................217
Time Cam Profile..........................................................................................................218
Calculate a Cam Profile ...............................................................................................218
Use Common Cam Profiles................................................................................................219
Acceleration Cam Profile............................................................................................219
Run Cam Profile............................................................................................................220
Deceleration Cam Profile............................................................................................220
Dwell Cam Profile.........................................................................................................221
Behavior of Pending Cams..........................................................................................222
Scaling cams .............................................................................................................................223
Scaling Position Cam Profile......................................................................................223
Scaling Time Cam Profiles..........................................................................................224
Cam Execution Modes .........................................................................................................225
Execution Schedule................................................................................................................226
Execution Schedule for the MAPC Instruction...................................................226
Execution Schedule for the MATC Instruction..................................................230
Pending Cams .........................................................................................................................231
Configure Camming
Index

RockwellAutomationPublicationMOTION-UM002F-EN-P- February 2018 11
Preface
This manual provides information on how to configure various coordinated
motion applications. Use the following table to choose a motion coordinated
instruction. Information about the coordinate instructions can be found in the
Logix5000™ Controllers Motion Instruction Reference Manual, publication
MOTION-RM002.
If you want to Use this instruction
Initiatea singleor multi-dimensional linear coordinatedmove for thespecified axes within a
Cartesian coordinate system. Motion CoordinatedLinearMove (MCLM)
Initiatea two-or three-dimensional circular coordinated move forthe specified axes withina
Cartesian coordinate system. Motion Coordinated Circular Move (MCCM)
Initiate a change in path dynamics for coordinate motion active on the specified coordinate
system. Motion Coordinated Change Dynamics (MCCD)
Stop theaxesof a coordinate system orcancel atransform. Motion Coordinated Stop(MCS)
Initiate a controlled shutdown of all ofthe axesof the specifiedcoordinate system. Motion Coordinated Shutdown (MCSD)
Starta transform that links two coordinate systems together. MotionCoordinatedTransform(MCT)(1)
Start a transform that links to coordinate systems together. The MCTO instruction incorporates
translation and orientation in its position transformation. Motion Coordinated Transform with Orientation (MCTO)(2)
Calculate the positionof one coordinate systemwith respectto another coordinate system. Motion Calculate Transform Position (MCTP)(1)
Calculatethe positionof apoint in one coordinate system to the equivalent point ina second
coordinate system. Motion Coordinated Transform Position with Orientation (MCTPO)(2)
Initiatea resetofalloftheaxesof thespecified coordinatesystem from theshutdown stateto
the axis readystate and clear the axisfaults. Motion Coordinated Shutdown Reset (MCSR)
Start a single or multi-dimensional linear coordinated path move (CP) for thespecified axes
within a Cartesian coordinate system. Motion Coordinated Path Move (MCPM)(2)
(1) Instruction cannot be used with SoftLogix™ controllers.
(2) Instruction only available for Compact GuardLogix 5380, CompactLogix
5380, CompactLogix 5480, ControlLogix 5580, and GuardLogix 5580
controllers.
The Rockwell Automation sample project's default location is:
c:\Users\Public\Public Documents\Studio
5000\Sample\ENU\v<current_release>\Rockwell Automation
There is a PDF file name Vendor Sample Projects that explains how to work
with the sample projects. Free sample code is available at
http://samplecode.rockwellautomation.com/.
The Vendor Sample Projects.pdf default location is:
c:\Users\Public\Public Documents\Studio
5000\Sample\ENU\v<current_release>\Third Party Products
Sample projects

Preface
12 RockwellAutomation PublicationMOTION-UM002F-EN-P- February 2018
Tip: To access the Vendor Sample Projects.pdf file from Logix Designer application, click Vendor Sample Projects from
the Help menu.
These documents contain additional information concerning related Rockwell
Automation products. You can view or download publications at
http://literature.rockwellautomation.com.
Resource Description
Sercos and Analog Motion Configuration and Startup User Manual, publication
MOTION -UM001
Describes how toconfigure a motion application andto start upyourmotionsolution byusing
Logix5000motionmodules.
>l5k> Controllers Motion Instructions Reference Manual, publication
MOTION-RM002 Providesa programmerwith details aboutmotioninstructions for a Logix-based controller.
Integrated Motion on the Ethernet/IP Network: Configuration and Startup User
Manual, publicationMOTION-UM003 Describes how to configure an integrated motion application and to start up your motion solution by usingStudio 5000 Logix Designer® application.
Logix5000ControllersCommonProcedures,publication 1756-PM001 Providesdetailedand comprehensive information about how to program aLogix5000
controller.
Logix5000ControllersGeneralInstructions Reference Manual, publication
1756-RM003 Provides a programmer with details about general instructions for a Logix-based controller.
Logix5000 Controllers Process and Drives Instructions Reference Manual,
publication1756-RM006.Provides a programmer with details about process and drives instructions for a Logix-based controller.
ControlLogix System User Manual, publication 1756-UM001 Describes the necessary tasks to install, configure, program, and operate a ControlLogix®
system.
ControlLogix 5580 and GuardLogix 5580 Controllers User Manual, publication
1756-UM543 Provides complete informationon howtoinstall, configure, select I/Omodules,manage communication, develop applications,and troubleshoot theControlLogix 5580 and
GuardLogix 5580 controllers.
CompactLogix5370ControllersUserManual, publication1769-UM021 Describes the necessary tasks to install, configure, program, and operate a CompactLogix™
system.
GuardLogix Controllers User Manual, publication 1756-UM020 Describes the GuardLogix®-specific procedures you use to configure, operate, and
troubleshoot the controller.
GuardLogix 5570 and Compact GuardLogix 5370 Controller Systems Safety
Reference Manual, publication 1756-RM099 Contains detailed requirements for achieving and maintaining SIL 3/PLe with the GuardLogix 5570orCompactLogix 5370 controller safety system,usingthe Studio 5000 LogixDesigner
application.
GuardLogix 5580 and Compact GuardLogix 5380 Controller Systems Safety
Reference Manual, publication 1756-RM012 Provides information on safety application requirements for GuardLogix 5580 and Compact GuardLogix 5380 controllers in Studio 5000 Logix Designer® applications.
Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1 Provides general guidelines for installing a Rockwell Automation industrial system.
Product Certificationswebsite,
www.rockwellautomation.com/global/certification/overview.page Provides declarations of conformity, certificates, and other certification details.
Copyright Notice
Copyright © 2018 Rockwell Automation Technologies, Inc. All Rights Reserved.
Printed in USA.
Additionalresources
Legal Notices

Preface
RockwellAutomation PublicationMOTION-UM002F-EN-P- February2018 13
This document and any accompanying Rockwell Software products are
copyrighted by Rockwell Automation Technologies, Inc. Any reproduction
and/or distribution without prior written consent from Rockwell Automation
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details.
End User License Agreement (EULA)
You can view the Rockwell Automation End-User License Agreement ("EULA")
by opening the License.rtf file located in your product's install folder on your hard
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Other Licenses
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licensed under one or more open source licenses. Copies of those licenses are
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You may alternately obtain complete Corresponding Source code by contacting
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Please include "Open Source" as part of the request text.
The following open source software is used in this product:
Software Copyright License Name License Text
AngularJS Copyright 2010-2017 Google, Inc. MIT License AngularJS 1.5.9 License
Bootstrap Copyright2011-2017 Twitter, Inc.
Copyright 2011-2017 The BootstrapAuthors
MIT License Bootstrap3.3.7 License
jQuery Copyright 2005,2014 JS Foundation and other contributors MIT License jQuery2.1.1 License
OpenSans Copyright 2017 Google, Inc. Apache License, Version 2.0 OpenSansLicense
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Preface
14 RockwellAutomation PublicationMOTION-UM002F-EN-P- February 2018
EtherNet/IP, RSMACC, RSView, RSView32, Rockwell Software Studio 5000
Automation Engineering & Design Environment, Studio 5000 View Designer,
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Warranty
This product is warranted in accordance with the product license. The product’s
performance may be affected by system configuration, the application being
performed, operator control, maintenance, and other related factors. Rockwell
Automation is not responsible for these intervening factors. The instructions in
this document do not cover all the details or variations in the equipment,
procedure, or process described, nor do they provide directions for meeting every
possible contingency during installation, operation, or maintenance. This
product’s implementation may vary among users.
This document is current as of the time of release of the product; however, the
accompanying software may have changed since the release. Rockwell Automation,
Inc. reserves the right to change any information contained in this document or
the software at any time without prior notice. It is your responsibility to obtain the
most current information available from Rockwell when installing or using this
product.
Environmental Compliance
Rockwell Automation maintains current product environmental information on
its website at
http://www.rockwellautomation.com/rockwellautomation/about-us/sustainabili
ty-ethics/product-environmental-compliance.page

Preface
RockwellAutomation PublicationMOTION-UM002F-EN-P- February2018 15
Contact Rockwell
Customer Support Telephone — 1.440.646.3434
Online Support — http://www.rockwellautomation.com/support/

RockwellAutomation PublicationMOTION-UM002F-EN-P- February2018 17
Chapter1
Create and configure a coordinate system
In the Logix Designer application, a coordinate system is a grouping of one or
more primary or ancillary axes created to generate coordinated motion. The Logix
Designer application supports the following geometry types.
•Cartesian
•Articulated Dependant
•Articulated Independent
•Selective Compliant Assembly Robot Arm (SCARA) Independent
•Delta
•SCARA Delta
The following are coordinate system examples.
Coordinate system with orthogonal axes
Cartesian coordinate system Two-dimensional Cartesian coordinate system Three-dimensional Cartesian coordinate system

Chapter 1
Createand configure a coordinate system
18 RockwellAutomation PublicationMOTION-UM002F-EN-P- February 2018
Coordinate systems with non-orthogonal axes
Articulated Dependent coordinate system Articulated Independent coordinate system SCARA Independent coordinate system
Delta Two-dimensional coordinate system Delta Three-dimensional coordinate system SCARA Delta coordinate system
DeltaJ1J2J6 coordinatesystem Delta J1J2J3J6 coordinate system Delta J1J2J3J4J5 coordinate system
See also
Create a coordinate system on page 19

Createand configure a coordinate system
Chapter 1
RockwellAutomation PublicationMOTION-UM002F-EN-P- February2018 19
Determining the coordinate system type on page 35
Use the Coordinate System tag to set the attribute values used by the Multi-Axis
Coordinated Motion instructions in motion applications. Create the Coordinate
System tag before executing any of the Multi-Axis Coordinated Motion
instructions.
The Coordinate System tag:
•Defines the COORDINATE_SYSTEM data type
•Associates the Coordinate System to a Motion Group
•Associates the axes to the Coordinate System
•Sets the dimension
•Defines the values used by the operands of the Multi-Axis Motion
Instructions
Configuring the Coordinate System tag defines the values for Coordination
Units, Maximum Speed, Maximum Acceleration, Maximum Deceleration, Actual
Position Tolerance, and Command Position Tolerance.
To create a coordinate system:
1. In the Controller Organizer, right-click the motion group and click New
Coordinate System.
Create a Coordinate System

Chapter 1
Createand configure a coordinate system
20 RockwellAutomation PublicationMOTION-UM002F-EN-P- February 2018
The New Tag dialog box opens.
2. In the Name box, enter the name of the coordinate system.
3. [optional] In the Description box, type a description of the coordinate
system.
4. In the Type box, select the type of tag to create. For a coordinate system, the
only valid choices are:
•Base - Refers to a normal tag and is the default
•Alias - Refers to a tag that references another tag with the same
definition
5. In the Data Type box, select COORDINATE_SYSTEM.
6. In the External Access box, select whether the tag has None, Read/Write,
or Read Only access from external applications such as HMIs.
7. Select the Constant check box to prevent executing logic from writing
values to the tag. Refer to the online help for more information about the
Constant check box.