MC_ReadCartesianTransform MCS to PCS

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Function Block MC_ReadCartesianTransform

This Function Block reads the parameter of the cartesian transformation that is active between the MCS and PCS. .It combines the used matrix (MC_SetCoordinateTransform or MCA_SetCoordinateTransformation) and rotation angles (MCA_SetDynamicFollower or MC_SetCartesianTransform) to a rotation angles and translation vector result.

Note

This result is just valid when an orthogonal matrix has been used. Any matrix with non-orthogonal vectors included could not be represented this way.

  • When a dynamic transformation is activated, the Function Block will as well display the actual dynamic values.
  • When different transformations are active, the Function Block will give the combined result.
  • The Function Block will give the FORWARD (from MCS to PCS) transformation.
  • Several rotations are possible to achieve the same result, so it might happen that the angles which are displayed do not match the given angel values at Function Block MCA_SetDynamicFollower. The possible rotation angles to achieve the same result are not unique.

Example: The following rotations achieve the same result:

  1. 2.
RotAngleX 0 90°
RotAngleY 90° 90°
RotAngleZ 90° 0
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or

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This Function Block is only supported for PLC-based central Motion Control with Coordinated Motion structures.