SMC_COORD_SYSTEM (ENUM)

TYPE SMC_COORD_SYSTEM :

The possible coordinate systems in which positions may be expressed.

Attributes:

qualified_only

InOut:

Name	Comment
ACS	Axis coordinate system. This is not a cartesian coordinate system. Instead, each axis of the axis group spans one dimension. A point in this coordinate system is simply the assignment of a value for each axis of the axis group.
MCS	Machine coordinate system. This coordinate system is directly associated with the kinematic of one axis group. The position and orientation of the MCS is defined by the kinematic transformation.
WCS	World coordinate system. This coordinate system is the common coordinate system for all axis groups working together to solve some task.
PCS_1	Product coordinate system number 1. This coordinate system is attached to a product. It may be static or dynamic.
PCS_2	Product coordinate system number 2. This coordinate system is attached to a product. It may be static or dynamic.
TCS	Tool coordinate system. When used with MoveDirect-, MoveLinear- or MoveCircular-FBs, position-data is interpreted with respect to the axis group’s position and orientation at the beginning of the movement, so relative and absolute movements are treated the same. In all other possible applications (like for example |SMC_GroupConvertPosition|), TCS means the current situation of the corresponding axis group, i.e. the set-values of the beginning of a cycle.