COMC_TeachCartesianTransformation

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Function COMC_TeachCartesianTransformation

The function calculates matrices to be used for Cartesian coordinate transformation.

Note

Four teach points from both coordinate systems are necessary to do so. The points need to be linearly independent, which means it is not possible to have 3 points on a line or all 4 points on a plane. As result, the Function will calculate FORWARD_MATRIX and INVERSE_MATRIX which could be used with Funciton Block “MCA_SetCoordinateTransformation” to switch over from MCS to PCS. The Function has a BOOL value as return value which is TRUE in case of success. When FALSE is returned, the condition of linear independent points needs to be checked.