Siemens sinumerik 840D sl Function Manual page 650

• Angle A: 1. rotation about the Z axis of the initial system
• B angle: 2. Rotation through the rotated Y axis
• C angle: 3. rotation about the twice rotated X axis
The RPY angles are assigned to machine data as follows:
• Angle A: ..._RPY[0]
• B angle: ..._RPY[1]
• C angle: ..._RPY[2]
An example of the rotation of the RPY angles is specified in Fig. "Example of rotation
through RPY angles".
In this example, the initial coordinate system X1, Y1, Z1 is first rotated through angle A about
axis Z1, then through angle B about axis Y2 and finally through angle C about axis X3.
Figure 2-1
2.2.3 Definition of a joint
Meaning
The term joint describes either a translational or a rotary axis.
The basic axis identifiers result from the arrangement and sequence of the individual joints.
These are described by identifying letters (S, C, R, N), which are explained below.
Special functions: Handling Transformation Package (TE4)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0
Example of rotation through RPY angles
Detailed description
2.2 Definition of terms
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