The CartesianFrameAngleOrientationType is a subtype of the SpatialLocationType. It is used for information about frames in 3D space using position representation by cartesian coordinates and orientation representation by Euler angles defined in Annex B.

The CartesianFrameAngleOrientationType is similar as the 3DFrameTyp e, introduced with Amendment 11 and uses the same DataType definition for the position.

For a unique mathematic definition of the orientation calculation the RpyOrientationType is provided.

It is recommended to use this type, instead of 3DFrameType, because of the generic approach of RelativeValueType and SpatialLocationType.

It is formally defined in Table 19.

 Attribute Value BrowseName CartesianFrameAngleOrientationType IsAbstract False ValueRank −1 (−1 = Scalar) DataType 3DFrame References NodeClass BrowseName DataType TypeDefinition Other Subtype of the SpatialLocationType defined in 7.2 0:HasComponent Variable Position 0:3DCartesianCoordinates 0:3DCartesianCoordinatesType M 0:HasComponent Variable Orientation 0:3DOrientation RpyOrientationType M ConformanceUnits CartesianFrameAngleOrientationType

The Variable Position is defined as 3DCartesianCoordinatesType, which includes the lengths X, Y and Z, to represent a three-dimensional cartesian position. It shall apply to the right-handed coordinate system definition defined in Annex B.

The Variable Orientation is defined as RpyOrientationType, defined in 7.4, which includes the angles A, B and C to represent the rotations about the axes of the cartesian coordinate system. It shall apply to the mathematic definition described in Annex B.

The components of the CartesianFrameAngleOrientation Type have additional subcomponents which are defined in Table 20.

 BrowsePath References NodeClass BrowseName DataType TypeDefinition Others Position 0:HasProperty Variable 0:LengthUnit 0:EUInformation PropertyType M Orientation 0:HasProperty Variable 0:AngleUnit 0:EUInformation PropertyType M

LengthUnit defines the unit of each dimension of the cartesian coordinates. The DataType EUInformation is defined in OPC 10000-8. Note that the Property EngineeringUnits is intentionally not used, as it would have to define the engineering unit of the full cartesian coordinates, not its individual dimensions.

AngleUnit defines the unit of each dimension of the orientation. The DataType EUInformation is defined in OPC 10000-8. Note that the Property EngineeringUnits is intentionally not used, as it would have to define the engineering unit of the full cartesian coordinates, not its individual dimensions.