Coordinate systems¶
Commands of the coordinate_systems chapter of the database, 11 entries. The status words are defined once, on the compatibility matrix, which says what each rests on and what the script builder does with it. Read it before this page: broken and removed are refusals, so a row here can be telling you the emitter will not write that command for that version.
CREATE_NEW_COORDINATE_SYSTEM¶
Phase setup, layout bare. Manual: SRC-003 p.329.
Appends a new local coordinate system; configure it afterwards with the SET_COORDINATE_SYSTEM commands or EDIT_COORDINATE_SYSTEM.
| Version | Status | Evidence |
|---|---|---|
| 25.000 | documented | SRC-749 p.287, same grammar as 26.120 |
| 25.100 | documented | SRC-748 p.303, same grammar as 26.120 |
| 26.000 | documented | SRC-747 p.302, same grammar as 26.120 |
| 26.100 | documented | SRC-741 p.325, same grammar as 26.120 |
| 26.101 | documented | SRC-725 p.328, same grammar as 26.120 |
| 26.120 | verified | reports/compat/CMP-26120_2026-08-08_full.yaml |
| 26.121 | verified | reports/compat/CMP-26121_2026-08-08_full.yaml |
| 26.122 | verified | reports/compat/CMP-26122_2026-08-11_full.yaml |
| 26.123 | verified | reports/compat/CMP-26123_2026-08-17_full-sim.yaml; SRC-751 p.334, unchanged from SRC-750 p.334 |
| 26.124 | verified | reports/compat/CMP-26124_2026-09-14_full-sim.yaml; SRC-752 p.334, the SRC-751 file, carried from 26.123 |
DELETE_COORDINATE_SYSTEM¶
Phase setup, layout inline. Manual: SRC-003 p.331.
Deletes a local coordinate system; the reference frame cannot be deleted and the manual requires an index greater than 1. NO EDITION SAYS WHAT HAPPENS TO THE INDICES ABOVE IT, or to an actuator or motion citing the deleted frame. If the remaining frames are renumbered, then every index a script recorded earlier means something else afterwards, exactly as WRAPPER_TRANSFER does to surface indices. The script builder tracks frames, so it would be the layer that has to model this; PLN-20260808-2100 carries the probe, and until it runs the safe pattern is to delete nothing a later command cites.
| Argument | Specification |
|---|---|
frame |
int |
| Version | Status | Evidence |
|---|---|---|
| 25.000 | documented | SRC-749 p.290, same grammar as 26.120 |
| 25.100 | documented | SRC-748 p.305, same grammar as 26.120 |
| 26.000 | documented | SRC-747 p.304, same grammar as 26.120 |
| 26.100 | documented | SRC-741 p.327, same grammar as 26.120 |
| 26.101 | documented | SRC-725 p.330, same grammar as 26.120 |
| 26.120 | documented | SRC-003 p.331 |
| 26.121 | documented | SRC-740 p.334, same grammar as 26.120 |
| 26.123 | documented | SRC-751 p.336, unchanged from SRC-750 p.336 |
| 26.124 | documented | SRC-752 p.336, the SRC-751 file, carried from 26.123; not run on 26.124 |
DUPLICATE_COORDINATE_SYSTEM¶
Phase setup, layout inline. Manual: SRC-003 p.331.
Appends a copy of a local coordinate system. Nothing reports the index the copy takes, and no edition states how one is allocated, so a script that duplicates has to work the result out from how many frames it believes exist. The builder ASSUMES the next free index, which is the same assumption it makes for every creation command and is unmeasured here; PLN-20260808-2100 carries the probe that settles allocation and renumbering together.
| Argument | Specification |
|---|---|
frame |
int |
| Version | Status | Evidence |
|---|---|---|
| 25.000 | documented | SRC-749 p.289, same grammar as 26.120 |
| 25.100 | documented | SRC-748 p.305, same grammar as 26.120 |
| 26.000 | documented | SRC-747 p.304, same grammar as 26.120 |
| 26.100 | documented | SRC-741 p.327, same grammar as 26.120 |
| 26.101 | documented | SRC-725 p.330, same grammar as 26.120 |
| 26.120 | documented | SRC-003 p.331 |
| 26.121 | documented | SRC-740 p.334, same grammar as 26.120 |
| 26.123 | documented | SRC-751 p.336, unchanged from SRC-750 p.336 |
| 26.124 | documented | SRC-752 p.336, the SRC-751 file, carried from 26.123; not run on 26.124 |
EDIT_COORDINATE_SYSTEM¶
Phase setup, layout keyword_block. Manual: SRC-003 p.329.
Full edit of a local frame: origin and the three axis vectors, all expressed in the reference frame.
| Argument | Specification |
|---|---|
frame |
int |
name |
str |
origin_x |
float |
origin_y |
float |
origin_z |
float |
vector_x_x |
float |
vector_x_y |
float |
vector_x_z |
float |
vector_y_x |
float |
vector_y_y |
float |
vector_y_z |
float |
vector_z_x |
float |
vector_z_y |
float |
vector_z_z |
float |
| Version | Status | Evidence |
|---|---|---|
| 25.000 | documented | SRC-749 p.287, same grammar as 26.120 |
| 25.100 | documented | SRC-748 p.303, same grammar as 26.120 |
| 26.000 | documented | SRC-747 p.302, same grammar as 26.120 |
| 26.100 | documented | SRC-741 p.325, same grammar as 26.120 |
| 26.101 | documented | SRC-725 p.328, same grammar as 26.120 |
| 26.120 | verified | reports/compat/CMP-26120_2026-08-08_full.yaml |
| 26.121 | verified | reports/compat/CMP-26121_2026-08-08_full.yaml |
| 26.122 | verified | reports/compat/CMP-26122_2026-08-11_full.yaml |
| 26.123 | verified | reports/compat/CMP-26123_2026-08-17_full-sim.yaml; SRC-751 p.334, unchanged from SRC-750 p.334 |
| 26.124 | verified | reports/compat/CMP-26124_2026-09-14_full-sim.yaml; SRC-752 p.334, the SRC-751 file, carried from 26.123 |
MIRROR_COORDINATE_SYSTEM¶
Phase setup, layout inline. Manual: SRC-003 p.331.
DUPLICATES AND THEN MIRRORS, which the manual states in the FRAME row rather than in the command's own description: the original frame survives and a mirrored copy is appended. Reading the name alone would suggest the frame is mirrored in place, which is a different result for every actuator or motion already pointing at it. THE MIRROR PLANE IS THE REFERENCE FRAME'S, which the manual states in the PLANE row rather than leaving to be inferred: the plane belongs to the reference coordinate system and not to the frame being mirrored. So the result depends on where that local frame sits relative to the global axes, which follows from the page rather than from any measurement.
| Argument | Specification |
|---|---|
frame |
int |
plane |
enum in |
| Version | Status | Evidence |
|---|---|---|
| 25.000 | documented | SRC-749 p.290, same grammar as 26.120 |
| 25.100 | documented | SRC-748 p.305, same grammar as 26.120 |
| 26.000 | documented | SRC-747 p.304, same grammar as 26.120 |
| 26.100 | documented | SRC-741 p.327, same grammar as 26.120 |
| 26.101 | documented | SRC-725 p.330, same grammar as 26.120 |
| 26.120 | documented | SRC-003 p.331 |
| 26.121 | documented | SRC-740 p.334, same grammar as 26.120 |
| 26.123 | documented | SRC-751 p.336, unchanged from SRC-750 p.336 |
| 26.124 | documented | SRC-752 p.336, the SRC-751 file, carried from 26.123; not run on 26.124 |
NORMALIZE_COORDINATE_SYSTEM¶
Phase setup, layout inline. Manual: SRC-003 p.330.
Rescales the axes of a coordinate system to unit length, which matters because SET_COORDINATE_SYSTEM_AXIS takes a direction vector of any magnitude and the frame keeps whatever length was given. ITS HEADING TAKES NO ARGUMENT AND ITS SAMPLE PASSES ONE, in all four editions. The parameter table prints N/A in the name column and then describes an index in the value column, and the sample passes 2. The one-argument form is recorded, which is the same reading as ENABLE_ACTUATOR on the February edition: a heading with no placeholder beside a sample that passes a value is a heading that omitted it, since the alternative refuses the only runnable line the vendor has written. UNLIKE THE REST OF THE CHAPTER IT ACCEPTS FRAME 1. Every other command here requires an index greater than 1; this table says to use 1 for the reference system. Nothing enforces the difference, frames being cited rather than range checked per command, so it is recorded here.
| Argument | Specification |
|---|---|
frame |
int |
| Version | Status | Evidence |
|---|---|---|
| 25.000 | documented | SRC-749 p.288, same grammar as 26.120 |
| 25.100 | documented | SRC-748 p.304, same grammar as 26.120 |
| 26.000 | documented | SRC-747 p.303, same grammar as 26.120 |
| 26.100 | documented | SRC-741 p.326, same grammar as 26.120 |
| 26.101 | documented | SRC-725 p.329, same grammar as 26.120 |
| 26.120 | documented | SRC-003 p.330 |
| 26.121 | documented | SRC-740 p.333, same grammar as 26.120 |
| 26.123 | documented | SRC-751 p.335, unchanged from SRC-750 p.335 |
| 26.124 | documented | SRC-752 p.335, the SRC-751 file, carried from 26.123; not run on 26.124 |
ROTATE_COORDINATE_SYSTEM¶
Phase setup, layout keyword_block. Manual: SRC-003 p.330.
Rotates the local coordinate system FRAME about ROTATION_AXIS of ROTATION_FRAME by ANGLE degrees.
| Argument | Specification |
|---|---|
frame |
int |
rotation_frame |
int |
rotation_axis |
enum in |
angle |
float [deg] |
| Version | Status | Evidence |
|---|---|---|
| 25.000 | documented | SRC-749 p.289, same grammar as 26.120 |
| 25.100 | documented | SRC-748 p.304, same grammar as 26.120 |
| 26.000 | documented | SRC-747 p.303, same grammar as 26.120 |
| 26.100 | documented | SRC-741 p.326, same grammar as 26.120 |
| 26.101 | documented | SRC-725 p.329, same grammar as 26.120 |
| 26.120 | documented | SRC-003 p.330 |
| 26.121 | documented | SRC-740 p.333, same grammar as 26.120 |
| 26.123 | documented | SRC-751 p.335, unchanged from SRC-750 p.335 |
| 26.124 | documented | SRC-752 p.335, the SRC-751 file, carried from 26.123; not run on 26.124 |
SET_COORDINATE_SYSTEM_AXIS¶
Phase setup, layout inline. Manual: SRC-003 p.330.
Sets one axis direction vector of a local frame; the vector is normalized automatically, and NORMALIZE_FRAME TRUE renormalizes the whole frame after the update.
| Argument | Specification |
|---|---|
frame |
int |
axis |
enum in |
nx |
float |
ny |
float |
nz |
float |
normalize_frame |
enum in |
| Version | Status | Evidence |
|---|---|---|
| 25.000 | documented | SRC-749 p.288, same grammar as 26.120 |
| 25.100 | documented | SRC-748 p.304, same grammar as 26.120 |
| 26.000 | documented | SRC-747 p.303, same grammar as 26.120 |
| 26.100 | documented | SRC-741 p.326, same grammar as 26.120 |
| 26.101 | documented | SRC-725 p.329, same grammar as 26.120 |
| 26.120 | documented | SRC-003 p.330 |
| 26.121 | verified | reports/compat/CMP-26121_2026-08-08_savedstate2.yaml |
| 26.122 | verified | reports/compat/CMP-26122_2026-08-11_full.yaml |
| 26.123 | verified | reports/compat/CMP-26123_2026-08-17_full-sim.yaml; SRC-751 p.335, unchanged from SRC-750 p.335 |
| 26.124 | verified | reports/compat/CMP-26124_2026-09-14_full-sim.yaml; SRC-752 p.335, the SRC-751 file, carried from 26.123 |
SET_COORDINATE_SYSTEM_NAME¶
Phase setup, layout inline. Manual: SRC-003 p.329.
Renames a local coordinate system. The manual requires the index to be greater than 1, the reference frame having a fixed name.
| Argument | Specification |
|---|---|
frame |
int |
name |
str |
| Version | Status | Evidence |
|---|---|---|
| 25.000 | documented | SRC-749 p.287, same grammar as 26.120 |
| 25.100 | documented | SRC-748 p.303, same grammar as 26.120 |
| 26.000 | documented | SRC-747 p.302, same grammar as 26.120 |
| 26.100 | documented | SRC-741 p.325, same grammar as 26.120 |
| 26.101 | documented | SRC-725 p.328, same grammar as 26.120 |
| 26.120 | documented | SRC-003 p.329 |
| 26.121 | documented | SRC-740 p.332, same grammar as 26.120 |
| 26.123 | documented | SRC-751 p.334, unchanged from SRC-750 p.334 |
| 26.124 | documented | SRC-752 p.334, the SRC-751 file, carried from 26.123; not run on 26.124 |
SET_COORDINATE_SYSTEM_ORIGIN¶
Phase setup, layout inline. Manual: SRC-003 pp.329-330.
Origin position relative to the reference coordinate system.
| Argument | Specification |
|---|---|
frame |
int |
x |
float |
y |
float |
z |
float |
units |
enum in |
| Version | Status | Evidence |
|---|---|---|
| 25.000 | documented | SRC-749 p.288, same grammar as 26.120 |
| 25.100 | documented | SRC-748 p.303, same grammar as 26.120 |
| 26.000 | documented | SRC-747 p.302, same grammar as 26.120 |
| 26.100 | documented | SRC-741 p.325, same grammar as 26.120 |
| 26.101 | documented | SRC-725 p.328, same grammar as 26.120 |
| 26.120 | documented | SRC-003 pp.329-330 |
| 26.121 | verified | reports/compat/CMP-26121_2026-08-08_savedstate2.yaml |
| 26.122 | verified | reports/compat/CMP-26122_2026-08-11_full.yaml |
| 26.123 | verified | reports/compat/CMP-26123_2026-08-17_full-sim.yaml; SRC-751 p.334, unchanged from SRC-750 p.334 |
| 26.124 | verified | reports/compat/CMP-26124_2026-09-14_full-sim.yaml; SRC-752 p.334, the SRC-751 file, carried from 26.123 |
TRANSLATE_COORDINATE_SYSTEM¶
Phase setup, layout inline. Manual: SRC-003 pp.330-331.
Moves a local coordinate system by a vector, where SET_COORDINATE_SYSTEM_ORIGIN sets its position absolutely. The two take the same five arguments and the same unit vocabulary, so the difference between them is not visible in a script line: one is relative and the other is not. THE TRANSLATION IS READ IN THE FRAME BEING MOVED, which the manual states, so a translation is not in general along the reference axes. The table row also describes the frame as the one to be ROTATED, copied from the rotate command above it, in the four editions read then.
| Argument | Specification |
|---|---|
frame |
int |
x |
float |
y |
float |
z |
float |
units |
enum in |
| Version | Status | Evidence |
|---|---|---|
| 25.000 | documented | SRC-749 p.289, same grammar as 26.120 |
| 25.100 | documented | SRC-748 p.305, same grammar as 26.120 |
| 26.000 | documented | SRC-747 p.304, same grammar as 26.120 |
| 26.100 | documented | SRC-741 p.327, same grammar as 26.120 |
| 26.101 | documented | SRC-725 p.329, same grammar as 26.120 |
| 26.120 | documented | SRC-003 pp.330-331 |
| 26.121 | documented | SRC-740 p.333, same grammar as 26.120 |
| 26.123 | documented | SRC-751 p.335, unchanged from SRC-750 p.335 |
| 26.124 | documented | SRC-752 p.335, the SRC-751 file, carried from 26.123; not run on 26.124 |