Lenze PLC Designer PLC-Designer (R2-x) SoftMotion - Manual (Page 196)

L-force | PLC Designer - SoftMotion
The SM_CNC.lib library
Function blocks for spatial transformation processes
196
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DMS 5.2 EN 03/2011 TD17
7.12.3 SMC_UnitVectorToRPY
Program organisation unit for calculating the RPY angle (with reference to the old
coordinate system) from the unit vectors of the new coordinate system
Inputs (VAR_IN)
vX, vY, vZ: SMC_Vector3D
Unit vectors of the new coordinate system with reference to the old coordinate system.
Outputs (VAR_OUT)
dA, dB, dC: LREAL
RPY angle in radian measure
bError : BOOL
Invalid input values
nError: WORD
Error description
Value Information
0 No error (bError = FALSE)
1 Vectors do not have length 1.
2 Vectors are not perpendicular to one another.
3 No right-hand system