Siemens SINUMERIK 828D Function Manual page 726

K2: Axis Types, Coordinate Systems, Frames
10.5 Frames
Parameterization
The corresponding rotation in frame is parameterized through the machine data:
MD10600 $MN_FRAME_ANGLE_INPUT_MODE (rotation sequence in FRAME)
Value Meaning
1 RPY notation
2 Euler angle
RPY
RPY is derived from the English:
R: Roll
P: Pitch
Y: Yaw
Rotations with a RPY angle are carried out in the order Z, Y', X''.
Data from RPY angles can only be unambiguously calculated back from the following value ranges:
-180 <= x <=
-90 < y <
-180 <= z <=
For data outside the specified value ranges, a modulo conversion is made referred to the value of the particular
range limit.
726
→ rotation around X
→ rotation around Y
→ rotation around Z
180
90
180
Function Manual, 09/2011, 6FC5397-0BP40-2BA0
Basic Functions