text: <s>[INST] Recommended Configuration of Axes & Coordinates - AB Studio 5000 Motion Control Hi all, I would greatly appreciate any recommendations for appropriate configuration of axes and coordinates to enable control of the following 2D plotting device. There's two physical axes: 1.) A rotary axis sets angular location of an arm. 2.) On the arm is a linear actuator that sets the length/extension of the arm. At the end of the arm is a pen. What we would like to do is specify a pattern to be drawn in cartesian X, Y coordinates and for the PLC to do the necessary transforms and move the physical axes. According to AB Studio 5000 documentation we: 1.) Setup physical axes - OK 2.) Create coordinate system - Ahhgh... our geometry is not supported! Any recommendations on how to configuration the axes and coordinates for this machine? Thank you, Chris. [/INST] is Sell the plotter you have and get one with motion supported by Rockwell's coordinate systems an option? Is there a chance of using the SCARA configuration? That one seems closest to your configuration. It would mean lying to the processor only a little bit... You poor sorry son of a gun. The challenges of life are what make it interesting, but this one may be a bit too interesting. \\n </s>