9 Mapping of DataTypes ToC Previous Next

9.3 OPC UA Structure DataTypes ToC Previous Next

9.3.14 Rotation ToC Previous Next index

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.

Table 67 – Rotation Structure

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

Subtype of Structure defined in OPC 10000-5.

Table 68 – Rotation Definition

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