SetCartesianTransform

Sets a Cartesian transformation between the MCS and PCS.

Syntax

KsCommandStatus SetCartesianTransform(
     int Index,
     double TransX,
     double TransY,
     double TransZ,
     double RotAngle1,
     double RotAngle2,
     double RotAngle3,
     McExecutionMode ExecutionMode
);

Parameters

Index [in]: the index of an axis group. Indexes are zero based. Aliases affect this parameter. You can have up to 32 groups.

TransX [in]: X-component of translation vector.

TransY [in]: Y-component of translation vector.

TransZ [in]: Z-component of translation vector.

RotAngle1 [in]: Z-axis rotation angle component. Unit: degree.

RotAngle2 [in]: Y-axis rotation angle component. Unit: degree.

RotAngle3 [in]: X-axis rotation angle component. Unit: degree.

ExecutionMode [in]: defines the chronological sequence of the function. See the McExecutionMode type.

Remarks

Definition of the translation:

Example of the definition of the rotation:

The rotation is defined by a subsequent rotation around every coordinate direction beginning with the Z-direction.

 

Definition of the rotation:

 

Example: a rotation in the plane (2-dimensions)

SetCartesianTransform with { 50, 50, 0, 0, 0, 30 }:

Return value

Returns the KsCommandStatus structure.

Example

N/A

Requirements

  RT Win32
Minimum supported version 4.1 4.1
Header ksmotion.h ksmotion.h
Library KsApi_Rtss.lib KsApi.lib

See also

GetCartesianTransform