The Descent from the Cross was painted in accordance with the guidelines of the Catholic Council of Trent, that sought to make Biblical art more relevant to the needs of the congregation. Thus it was created on a large scale (roughly 14 x 16 feet), it was colourful, with a clear composition, and it stimulated both the piety and the visual imagination of the faithful. Jesuit teaching placed particular emphasis on the need to foster a believer’s ability to imagine Biblical scenes as though they were real. The crucifixion and its aftermath was a scene of great spiritual intensity and a vital element of Christian theology, and – along with the illustration of Catholic dogma such as The Transfiguration of Christ, The Immaculate Conception and so on – continued to be a highly-approved subject.

https://en.wikipedia.org/wiki/The_Descent_from_the_Cross_(Rubens)
http://www.visual-arts-cork.com/famous-paintings/descent-from-the-cross-rubens.htm
http://totallyhistory.com/the-descent-from-the-cross/
http://www.peter-paul-rubens.org/descent-from-the-cross/