text: <s>[INST] x y linear coordinated axis Summary: What commands to use I have an application that consist of an x y linear gantry. The application uses two linear cylinders by toolomatic. The linear cylinders are driven by small mpl motor and controlled by Kinetix 6000 servo system and a logix 5000 L61 processor. The x y coordinate system is to drive a series of non linear points for a glue profile. I thought that setting up a cam profile would be the way to go, but it is not working very well. Does anyone have any suggestions on how to set something like this up. [/INST] Good evening EPE_DS. What you're looking for in RS5000 is the MOTION COORDINATED tab in the language element toolbar (the one where all the ladder commands are). That tab has the commands: MCS Motion Coordinated Stop MCLM Motion Coordinated Linear Move MCCM Motion Coordinated Circular Move MCCD Motion Coordinated Change Dynamics MCSD Motion Coordinated ShutDown MCSR Motion Coordinated Shutdown Reset Before you get to use these commands, you'll have to create a tag of type COORDINATE_SYSTEM. I'd recommend a good hard read of the coordinate system user manual: http://literature.rockwellautomation.com/idc/groups/literature/documents/um/motion-um002_-en-p.pdf TJ McDermott Senior Project Engineer Systems Interface, Inc. \\n </s>