Giving multiple arguments to a pic works for me, i.e.
\documentclass[tikz,border=3mm]{standalone}
\begin{document}
\begin{tikzpicture}
\tikzset{pics/coordsys/.style n args={4}{
code = {
\draw [->, #1] (0,0,0) -- +(1,0,0)[red] node [pos=1.1]{#2};
\draw [->, #1] (0,0,0) -- +(0,1,0)[green] node [pos=1.1]{#3};
\draw [->, #1] (0,0,0) -- +(0,0,1)[blue] node [pos=1.1]{#4};
}
}}
\draw (0,0) coordinate (origin) [rotate=360] pic {coordsys={very thick}{x}{y}{z}};
\end{tikzpicture}
\end{document}
compiles without errors on my updated TeXLive installation. So I suspect the error comes from something that you did not disclose.
However, I would like to talk you out of this multiple argument thingy for this application. Rather, you could set some standard or initial (in a way default) values using pgf keys, and change them only if you have to. Also the argument thick in the way you use it may be better replaced by the pic actions, which are made for this. (This is the answer I had for your previous question, which got deleted just when I was about to press the submit button. Of course I have no problem deleting it.)
\documentclass[border=2mm,tikz]{standalone}
\usepackage{tikz-3dplot}
\begin{document}
\tdplotsetmaincoords{60}{-15}
\begin{tikzpicture}[tdplot_main_coords,scale=1.5,line join=round,>=latex,
line cap=round,declare function={fA(\t)=-sin(\t*144/(1+\t/5));
fAprime(\t)=pow(60/(5+\t),2)*cos(\t*144/(1+\t/5))*pi/180;
fB(\t)=-sin(\t*216/(1+\t*4/15));
fBprime(\t)=6*pow(90/(15+\t*4),2)*cos(\t*216/(1+\t*4/15))*pi/180;},
pics/coordsys/.style = {
code = {\tikzset{coordsys/.cd,#1}
\draw [->,pic actions] (0,0,0) -- +(1,0,0)[red] node[pos=1.1]
{$\pgfkeysvalueof{/tikz/coordsys/x}$};
\draw [->,pic actions] (0,0,0) -- +(0,1,0)[green!60!black] node[pos=1.1]
{$\pgfkeysvalueof{/tikz/coordsys/y}$};
\draw [->,pic actions] (0,0,0) -- +(0,0,1)[blue] node[pos=1.1]
{$\pgfkeysvalueof{/tikz/coordsys/z}$};
}
},coordsys/.cd,x/.initial=x,y/.initial=y,z/.initial=z]
\draw[dashed] plot[variable=\t,domain=0:5] ({\t},3,{fA(\t)});
\draw[dashed] plot[variable=\t,domain=0:3.25] ({\t},0,{fB(\t)});
\foreach \X [count=\Y] in {0,...,4}
{\draw ({\X*1.25},3,{fA(\X*1.25)}) coordinate (P\Y)
-- ({\X*3.25/4},0,{fB(\X*3.25/4)}) coordinate (Q\Y);
\tdplotsetrotatedcoords{0}{atan2(fAprime(\X*1.25),1)}{0}
\begin{scope}[tdplot_rotated_coords]
\path (P\Y) pic{coordsys};
\end{scope}
\tdplotsetrotatedcoords{0}{atan2(fBprime(\X*3.25/4),1)}{0}
\begin{scope}[tdplot_rotated_coords]
\path (Q\Y) pic{coordsys={x=x',y=y',z=z'}};
\end{scope}
}
\end{tikzpicture}
\end{document}
As you can see, the standard values for x, y, and z are just x, y and z, but by saying
\path (Q\Y) pic{coordsys={x=x',y=y',z=z'}};
for the curve in front, they will become x', y' and z'.
As for the rotations of the coordinate systems: they are rotated such that the x axis is tangent to the curve, and the y axis remains fixed. To this end, one has to guess some functions, and the derivatives have to be done by hand or with a computer algebra system (i.e. plain LaTeX won't do it). From this one computes the slope which gets fed into
\tdplotsetrotatedcoords{0}{atan2(fBprime(\X*3.25/4),1)}{0}
where the second argument is the rotation angle about the y axis. For more details consult the manual of tikz-3dplot.
A very quickly written alternative that does not require you to compute the derivative. (Note, however, that when trying to add smooth to the plot options one encounters unexpected difficulties: transformations that cannot be undone. This is the first time I see something like this.)
\documentclass[border=2mm,tikz]{standalone}
\usepackage{tikz-3dplot}
\usetikzlibrary{decorations.markings}
\begin{document}
\tdplotsetmaincoords{60}{-15}
\begin{tikzpicture}[tdplot_main_coords,scale=2,line join=round,>=latex,
line cap=round,declare function={fA(\t)=-sin(\t*144/(1+\t/5));
fB(\t)=-sin(\t*216/(1+\t*4/15));},
pics/coordsys/.style = {
code = {\tikzset{nodes={transform shape},coordsys/.cd,#1}
\draw [->,pic actions] (0,0,0) -- +(1,0,0)[red] node[pos=1.1,rotate=0]
{$\pgfkeysvalueof{/tikz/coordsys/x}$};
\draw [->,pic actions] (0,0,0) -- +(0,1,0)[green!60!black] node[pos=1.1]
{$\pgfkeysvalueof{/tikz/coordsys/y}$};
\draw [->,pic actions] (0,0,0) -- +(0,0,1)[blue] node[pos=1.1]
{$\pgfkeysvalueof{/tikz/coordsys/z}$};
}
},coordsys/.cd,x/.initial=x,y/.initial=y,z/.initial=z,/tikz/.cd,
rotated coordsys at/.style={postaction={decorate,decoration={markings,
mark=at position #1 with {\pgfmathtruncatemacro{\myint}{5*#1+0.1}
\path (0,0) coordinate (O'-\myint) (1,0) coordinate (X');
\path let \p1=($(X)-(O)$),\p2=($(X')-(O'-\myint)$) in \pgfextra{%
\pgfmathsetmacro{\myangle}{atan2(\y1,\x1)-atan2(\y2,\x2)}
\xdef\myangle{\myangle}};
\tdplotsetrotatedcoords{0}{\myangle}{0}
\begin{scope}[tdplot_rotated_coords]
\path (O'-\myint) pic[solid]{coordsys};
\end{scope}
}}}}]
\path (0,0,0) coordinate (O) (1,0,0) coordinate (X);
\draw[dashed,rotated coordsys at/.list={0,0.2,...,1}]
plot[variable=\t,domain=0:5,samples=71] ({\t},3,{fA(\t)});
\path foreach \X in {0,...,5} {(O'-\X) coordinate (P-\X)};
\draw[dashed,coordsys/x=x',coordsys/y=y',coordsys/z=z',
rotated coordsys at/.list={0,0.2,...,1}]
plot[variable=\t,domain=0:3.25,samples=71] ({\t},0,{fB(\t)});
\draw foreach \X in {0,...,5} {(P-\X) -- (O'-\X) coordinate (Q-\X)};
\end{tikzpicture}
\end{document}
As you can see, one can set the options coordsys/x=x' in the path.
\documentclass[tikz,border=3mm]{standalone} \begin{document} \begin{tikzpicture} \tikzset{pics/coordsys/.style n args={4}{ code = { \draw [->, #1] (0,0,0) -- +(1,0,0)[red] node [pos=1.1]{#2}; \draw [->, #1] (0,0,0) -- +(0,1,0)[green] node [pos=1.1]{#3}; \draw [->, #1] (0,0,0) -- +(0,0,1)[blue] node [pos=1.1]{#4}; } }} \draw (0,0) coordinate (origin) [rotate=360] pic {coordsys={very thick}{x}{y}{z}}; \end{tikzpicture} \end{document}