Siemens SINUMERIK 840D sl Programming Manual page 20

Coordinate systems
3.1 Overview
Example
The initial coordinate system X1, Y1, Z1 is rotated around the RPY angles as follows:
● Through angle A around the
● Through angle B around the
● Through angle C around the
Figure 3-1
20
Z'
Z
1
Y
1
X
1
X'
2
Example of rotation through the RPY angles
Z
axis
1
Y
' axis
2
X '' axis
3
2
Y'
2
Z''
3
X''
3
Programming Manual, 12/2018, A5E45237742B AB
Y
4
Z
Y''
4
3
X
4
SINUMERIK Run MyRobot /Direct Control