MC_CoordinateSystem

MC_CoordinateSystem: ENUM

ENUM Type	#INT Value	ENUM String	Description	Usage
MC_CoordinateSystem	Coordinate system in use
	0	ACS	Axes Coordinate System: Coordinates corresponding to a degree-of-freedom of the mechanism. Unlike other coordinate systems, this is not a Cartesian coordinate system. ACS for a system with N degrees of freedom and is an N-dimensional vector of the positions of mechanism links. These can be rotary links or prismatic links. For a robot mechanism, this is analogous to "Joint Coordinate System". Each element of this coordinate system may correspond to a single physical motor, or multiple motors which are coupled together. For example, 2 motors that control the position of a linear slide would have two MSCS (Motor Shaft Coordinate Systems), but only one ACS.	MC_CoordinateSystem#ACS
	1	MCS	Machine Coordinate System: The system of coordinates that is related to the machine. Positions defined in MCS are relative to the base of the mechanism .For Cartesian built machines, MCS is a Cartesian Coordinate system and may be identical to ACS, or mapped via a trivial transformation. The MCS represents an imaginable space with up to 6 dimensions (X,Y,Z, Rx,Ry,Rz). Its origin is located at the base of the mechanism or robot.	MC_CoordinateSystem#MCS
	2	PCS	Part Coordinate System: User defined frame, usually representing the location and orientation of an object in the work cell. The PCS can be moving and is defined as an offset (X,Y,Z, Rx,Ry,Rz) from the WCS.	MC_CoordinateSystem#PCS
	3	TCS	Tool Coordinate System: A frame attached to a given tool, defaulting to the tool plate. The TCS is defined relative to the tool plate (TPCS) of the mechanism / robot arm by a tool offset (X,Y,Z, Rx,Ry,Rz) from the Tool Plate. Note that the TCS is a coordinate frame that coincides with TCP Position in physical space.	MC_CoordinateSystem#TCS
	4	WCS	World Coordinate System: This is the base coordinate frame of the overall work cell. The position of objects in the work cell (robots, conveyors, pallets, parts, PCS definitions, etc.) are defined relative to this frame.	MC_CoordinateSystem#WCS
	5	TPCS	Tool Point Coordinate System: A frame attached to the mechanism's tool plate. Tool plate position, velocity, and acceleration are relative to the MCS.	MC_CoordinateSystem#TPCS