Siemens SINUMERIK 840DE SL - Page 773

Detailed Description
2.4 Frames
Axis Types, Coordinate Systems, Frames (K2)
Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0
2-43
RPY
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