K2: Axis Types, Coordinate Systems, Frames
10.5 Frames
Basic Functions
726
Function Manual, 09/2011, 6FC5397-0BP40-2BA0
Parameterization
The corresponding rotation in frame is parameterized through the machine data:
MD10600 $MN_FRAME_ANGLE_INPUT_MODE (rotation sequence in FRAME)
RPY
RPY is derived from the English:
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:
For data outside the specified value ranges, a modulo conversion is made referred to the value of the particular
range limit.
Value
Meaning
1
RPY notation
2
Euler angle
R:
Roll
→ rotation around X
P:
Pitch
→ rotation around Y
Y:
Yaw
→ rotation around Z
-180
<=
x
<=
180
-90
<
y
<
90
-180
<=
z
<=
180
[ [
\
\
]
]
[
[
]
]
\ \
[
[
\
\
] ]
5RWDWLRQDERXW]
5RWDWLRQDERXW\
5RWDWLRQDERXW[
