This DataType is a structure that defines the rotation (or heading) of an object relative to the base coordinate system. The format is ‘yaw, pitch, roll’ as defined for aircraft principal axes. Its composition is formally defined in Table 67.
|
Name |
Type |
Description |
|
Rotation |
Structure |
Subtype of Structure defined in OPC 10000-5. |
|
Yaw |
Double |
The yaw of the object, in the unit defined for rotational measurements, e. g. in radians between PI and –PI (or in deg between +180° and -180°). Rotation measured around a vertical axis. Reference (yaw = 0) is the X-axis of the coordinate system |
|
Pitch |
Double |
The pitch of the object, in the unit defined for rotational measurements, e. g. in radians between PI and –PI (or in deg between +180° and -180°). Rotation measured around a horizontal axis. Reference (pitch = 0) is the direction of the yaw on the horizontal plane of the coordinate system |
|
Roll |
Double |
The roll of the object, in the unit defined for rotational measurements, e. g. in radians between PI and –PI (or in deg between +180° and -180°). Rotation measured around a horizontal axis pointing in the direction defined by yaw, pitch |
Its representation in the AddressSpace is defined in Table 68.
|
Attribute |
Value |
|||||
|
BrowseName |
Rotation |
|||||
|
IsAbstract |
False |
|||||
|
References |
NodeClass |
BrowseName |
DataType |
TypeDefinition |
Other |
|
|
Subtype of Structure defined in OPC 10000-5. |
||||||
Table 68 – Rotation Definition