Rotation With A Euler Angles: Zy'x" Convention (Rpy Angles) - Siemens SINUMERIK 840D sl Function Manual

K2: Axis Types, Coordinate Systems, Frames
10.5 Frames
MD10600 $MN_FRAME_ANGLE_INPUT_MODE = <value>
Value
1
2
Note
For historical reasons, Euler angles in zx'z" convention can be used. However, it is strongly
recommended that only Euler angles in zy'x" convention (RPY angles) be used (see Section
Rotation with a Euler angles: ZY'X" convention (RPY angles) (Page 708)).
10.5.2.4

Rotation with a Euler angles: ZY'X" convention (RPY angles)

Euler angles in zy'x" convention are also called RPY angles. RPY is derived from:
● R: Roll → rotation around x
● P: Pitch → rotation around y'
● Y: Yaw → rotation around z''
With RPY angles, the rotations are in the order z, y', x".
Assignment of rotary axis to geometry axis
708
Meaning
Euler angles in zy'x'' convention (RPY angles)
Euler angles in zx'z" convention
Rotary axis
x''
y'
z
Geometry axis in channel
1st geometry axis
2nd geometry axis
3rd geometry axis
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Basic Functions