# Coordinated System Rockwell // Allen BRadley

**URL:** <https://forum.inductiveautomation.com/t/coordinated-system-rockwell-allen-bradley/24632>\
**Category:** General Discussion\
**Created:** [May 3, 2019, 11:31am UTC](https://forum.inductiveautomation.com/t/coordinated-system-rockwell-allen-bradley/24632 "2019-05-03T11:31:29Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![z72ampaj](https://avatars.discourse-cdn.com/v4/letter/z/b782af/32.png) [@z72ampaj](https://forum.inductiveautomation.com/u/z72ampaj)\
**Post date:** [May 3, 2019, 11:31am UTC](https://forum.inductiveautomation.com/t/coordinated-system-rockwell-allen-bradley/24632/1 "2019-05-03T11:31:29Z")

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Good morning,

I am designing a robot similar to “Schubert F2”. I have already solved the inverse kinematic, trajectory, speed and stuff, but to design the controller, I have been recommended the use of the Rockwell // Allen Bradley PLC, because it has integrated the coordinate system (the “Schubert F2” robot is similar to the “Articulated Dependent Coordinate System”).

My doubt is: I am setting RSLogix, configuring the PLC, SERCO and Kinetix, as well a the two controlled axes. I have also created the articulated dependent coordinate system, with its geometry and axis associated. However, I can’t find anything about how to set the trajectory profile of the end effector or, failing that, the profile of the servo angles.

I would like to know if someone has worked with something similar or knows where to find a tutorial or example solved. Thanks

Greetings.