Systems and methods that facilitate motion control through coordinate system transformations

A method that facilitates motion control in an industrial control environment, comprising:

• establishing a relationship between a source system and a target system through an instruction;
• utilizing the instruction to obtain a transform for converting source system motion in the source system that is a Cartesian coordinate system to target system motion in the target system that is a non-Cartesian, Joint space coordinate system;
• generating the transform in an industrial control language;
• transforming a position of the source system to a position of the target system in the target coordinate system;
• and
• moving the target system to the position in the target coordinate system.

A method that creates motion instruction that facilitate motion control in an industrial control environment, comprising:

• defining a source system as one of a Cartesian coordinate system or a non-Cartesian coordinate system;
• defining a target system as a different coordinate system than the coordinate system associated with the source system;
• utilizing the defined source system and target system to determine a transformation between a coordinate system of the source system and a coordinate system of the target system;
• generating a transform, based on the transformation, in an industrial control language that is one of structured text, sequential function chart, functional block diagram, instruction list, or ladder diagram;
• generating a motion instruction that at least includes the source and target systems and the transformation, the motion instruction is utilized to map a movement of the source system to the coordinate system of the target system in order to move the target system according to the movement of the source system.