Chapter 4
Geometries with orientation support
200
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
Example Start Region
End Region
Notes
4
Mirror flip
Mirror flip
Starting orientation [Rx=0, Ry=(-78), Rz=180] with MCPM move to orientation [Rx=0, Ry=78, Rz=180].
The resultant move takes the longest rotary path move to avoid travel through 0 in the Mirror flip region, or +204
on Ry (-204 for J5).
Shortest rotary path move for Ry is not allowed in the Mirror flip region.
5
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This is a very specific case involving a move from home position [Rx=180, Ry=0] to absolute position [Rx=0, Ry=0]. This
move is not allowed due to ambiguity of the direction of travel (either positive or negative direction would be correct, yet
indeterminate from the absolute orientation specified).
Tip:
An incremental Ry move of distance 180 is allowed here - the direction of the move is explicitly specified by the
sign of the distance parameter.
6
Mirror flip
Mirror flip
Shortest rotary path move for Ry is not allowed in the Mirror flip region. Example 4 shows how such a move is planned.
Tip:
Incremental moves are not limited like absolute moves are. However, such incremental Ry moves will encounter
transformation error when attempting to cross zero degrees (J5 = +/- 180 ) in the Mirror flip region.
See also
Mirror orientation restrictions
Use the MCTO instruction to establish a bidirectional transform between
Cartesian and robot system with coordinates that are joint axes of a robot.
The Cartesian system coordinates are defined by XYZ translation coordinates and
RxRyRz orientation coordinates in the fixed angle convention.
Configure and program
turns counters