Rotation With A Euler Angles: Zx'z" Convention - Siemens SINUMERIK 840D sl Function Manual

10.5.2.5

Rotation with a Euler angles: ZX'Z" convention

With Euler angles, the rotations are in the order z, x', z".
Note
Recommended use
For historical reasons, Euler angles in zx'z" convention can be used. However, it is strongly
recommended that only Euler angles in zy'x" convention (RPY angles) be used (see Section
Rotation with a Euler angles: ZY'X" convention (RPY angles) (Page 708)).
Assignment of rotary axis to geometry axis
Range of values
Data from Euler angles can only be unambiguously calculated back within the following value
ranges:
0
-180
-180
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Rotary axis
z''
x'
z
<= x < 180
<= y <= 180
<= z <= 180
K2: Axis Types, Coordinate Systems, Frames
Geometry axis in channel
3rd geometry axis
1st geometry axis
3rd geometry axis
10.5 Frames
713