Definition Of A Joint - Siemens SINUMERIK 840D sl Function Manual

TE4: Transformation package handling
13.3 Definition of terms
The definitions of the RPY angles are as follows:
• Angle A: 1. rotation about the Z axis of the initial system
• B angle: 2. Rotation through the rotated Y axis
• C angle: 3. rotation about the twice rotated X axis
The RPY angles are assigned to machine data as follows:
• Angle A: ..._RPY[0]
• B angle: ..._RPY[1]
• C angle: ..._RPY[2]
An example of the rotation of the RPY angles is specified in Fig. "Example of rotation through
RPY angles".
In this example, the initial coordinate system X1, Y1, Z1 is first rotated through angle A about
axis Z1, then through angle B about axis Y2 and finally through angle C about axis X3.
Figure 13-1
13.3.3

Definition of a joint

Meaning
The term joint describes either a translational or a rotary axis.
The basic axis identifiers result from the arrangement and sequence of the individual joints.
These are described by identifying letters (S, C, R, N), which are explained below.
540
Example of rotation through RPY angles
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Special Functions