Allen-Bradley 1756-HYD02 User Manual page 127

Geometries with orientation support Chapter 4
following diagram to handle full rotation of 360 around Y axis. At the 90
point of Ry, the Rx and Rz need to mirror flip as shown in the trends.
The following is a 3D diagram of a series of points with Ry which has four regions
as shown in the diagram. This covers 360 range of rotation around Y axis while
restricting Ry to +/-90 using mirror flip implementation. Rz rotation in XY
plane flips from 45 to -135.
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Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018