LSIS XGT Series - PCS Setting

Chapter 8 Motion Control Function
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8.4.3 PCS Setting
PCS represents TCP on the work stand. TCP is defined by rotation and movement from the origin point. The parameter to convert
PCS into MCS can be set using MC_SetCartesianTransform function block or setting axes group parameter. In
MC_SetCartesianTransform, TransX/TransY/TransZ represents the distance of movement from the MCS origin point to the PCS origin
point. RotA/RotB/RotCare rotation values for PCS. RotA represents PCS rotation along X-axis. RotB represents PCS rotation along Y-
axis. RotC represents PCS rotation along Z-axisPCS rotation is performed in the following order: RotC->RotB->RotA
X mcs
Z mcs
Y mcs Y pcs
Z pcs
X pcs
TransY
TransX
TransZ
RotC
Ypcs
Zpcs=Z`pcs
Y`pcs
X`pcs
Y`pcs=Y``pcs
RotB
Z`pcs
Z``pcs
X`pcs
X``pcs
Y``pcs
X```pcs=X``pcs
RotA
Y```pcs
Z``pcs
Z```pcs
1. Function block
Name
Description
Operation Condition
MC_SetCartesianTransform
PCS setting
Edge
MC_SetCartesianTransform
DoneExecute
AxesGroup AxesGroup
BOOL
BOOL
UINT UINT
LREAL TransX
LREAL TransY
Busy BOOL
CommandAborted BOOL
Error BOOL
ErrorID WORD
Active BOOL
LREAL TransZ
LREAL RotAngleA
LREAL RotAngleB
LREAL RotAngleC