PCS (Product Coordinate System)¶
Basically, the MCS axes represent a 3 dimensional Cartesian space. It is linked with the used “TRANSFORMATION” Function Block to the ACS axes which are the real movement axes. The MCS has a fixed origin and the 3 axes X,Y,Z follow the right hand rule. It is possible to use a PCS for all movements of the cartesian axes. The PCS is activated with MCA_SetCoordinateTransformation. The calculation is implemented by a homogeneous transformation using a FORWARD matrix to transform MCS to PCS and an INVERSE matrix to transform PCS to MCS coordinates. The PCS is a Cartesian system as well and might be turned and shifted and use different scaling compared to the MCS system.
A matrix without modification would have the following values:
A matrix which does a shift of the coordinate system will look as follows:
The matrix might be created by using the function “COMC_TeachCartesianTransformation”. This block allows teaching the relation between MCS and PCS.