Siemens SINUMERIK 840Di Function Manual page 774

Detailed Description
2.4 Frames
Euler angle
Rotations with a Euler angle are carried out in the order Z, X', Z''.
The angles are only defined ambiguously in the following ranges:
The written angles can be uniquely read back again in these areas. When rotations that are
larger than the specified angles are entered, these are converted to a mode of
representation that does not exceed the specified range limits.
RPY example:
$P_UIFR[1] = crot(x, 10, y, 90, z, 40), when read back, produces
$P_UIFR[1] = crot(x, 0, y, 90, z, 30).
$P_UIFR[1] = crot(x, 190, y, 0, z, -200), when read, produces
$P_UIFR[1] = crot(x, -170, y, 0, z, 160).
On writing and reading frame rotation components, these limits should be observed so the
same results are achieved on writing and reading, or on repeated writing.
2-44
0 <=
-180 <=
-180 <=
x <
y <=
z <=
Axis Types, Coordinate Systems, Frames (K2)
Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0
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