Y_CalcCoordTransform
This Function Block performs a coordinate transformation between any of the supported Coordinate Systems.
Parameters
| * | Parameter | Data Type | Description | Default |
|---|---|---|---|---|
|
VAR_IN_OUT
|
||||
| B |
AxesGroup | AXES_GROUP_REF | A logical reference to a group of axes, which contains several additional substructures pertaining to the group. | |
| VAR_INPUT | ||||
| B | Enable |
BOOL | The function will continue to execute every scan while Enable is held high and there are no errors. | FALSE |
| E |
InputCoordinates |
VECTOR | An array of values. The specific meaning of each value depends upon the Coordinate System specified and the mechanism, and the context. For example, the values could be world space positions or velocities. | Array of LREAL#0.0 |
| E |
InputCoordinateFrame |
MC_CoordinateSystem | Enumeration with the following values: 0 = ACS, 1 = MCS, 2 = PCS, 3 = TCS, 4 = WCS, 5 = TPCS. | MC_CoordinateSystem#ACS |
| E |
OutputCoordinateFrame |
MC_CoordinateSystem | Enumeration with the following values: 0 = ACS, 1 = MCS, 2 = PCS, 3 = TCS, 4 = WCS, 5 = TPCS. | MC_CoordinateSystem#ACS |
| VAR_OUTPUT | ||||
| V |
OutputCoordinates |
VECTOR | An array of values. The specific meaning of each value depends upon the Coordinate System specified and the mechanism, and the context. For example, the values could be world space positions or velocities. | |
| E | Valid |
BOOL | Set high when the commanded action has completed successfully. If another block takes control before the action is completed, the Done output will not be set. This output is reset when Execute goes low. | |
| B | Error | BOOL | Set high if an error has occurred during the execution of the function block. This output is cleared when 'Execute' or 'Enable' goes low. |
|
| E |
ErrorID | UINT | If Error is true, this output provides the Error ID. This output is reset when 'Execute' or 'Enable' goes low. |
|
Error Description
See the Function Block ErrorID List.