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.
Table 19 – CartesianFrameAngleOrientationType Definition
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 threedimensional cartesian position. It shall apply to the righthanded 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.
Table 20 – CartesianFrameAngleOrientationType Additional Subcomponents
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 100008. 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 100008. 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.