# Explicit calculation

V.G.TRACK_CS.X, etc.

These channel-specific variables can be used to calculate the current master position. For example, if this position is defined as 0 by an offset, the zero point of the tracking channel is located at the centre of the dynamic coordinate system. Position and orientation are considered. This means that if the master is rotated tracked, the slave tracks the rotation about the TCP of the master.

## Programing Example

Explicit calculation

%TrackCS

N6000 #TRACK CS ON[ ID=2 SET_ZERO FILTER=1000 ]

; Yaw-Pitch-Roll : negative B axis

N7000 #CS ON[TRCK_CS] [V.G.TRACK_CS.X, V.G.TRACK_CS.Y,
V.G.TRACK_CS.Z, V.G.TRACK_CS.A,
-V.G.TRACK_CS.B, V.G.TRACK_CS.C]

N8000 X0 Y0 Z0 A0 B0 C0 ; Move slave to master centre

;…

M30