Detailed description
2.4 Frames
Basic logic functions: Axes, coordinate systems, frames (K2)
56 Function Manual, 11/2006, 6FC5397-0BP10-2BA0
Parameterization
The corresponding rotation in frame is parameterized through the machine data:
MD10600 $MN_FRAME_ANGLE_INPUT_MODE (rotation sequence in FRAME)
Value Significance
1 RPY notation
2 Euler angle
RPY angles
Rotations with a RPY angle are carried out in the order Z, Y', X''.
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The angles are only defined ambiguously in the following ranges:
-180 <= x <= 180
-90 < Y < 90
-180 <= z <= 180
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