Programming in Euler angles ORIEULER
The values programmed during orientation programming with A2, B2, C2 are interpreted as
Euler angles (in degrees).
The orientation vector results from turning a vector in the Z direction firstly with A2 around the
Z axis, then with B2 around the new X axis and lastly with C2 around the new Z axis.
In this case the value of C2 (rotation around the new Z axis) is meaningless and does not
have to be programmed.
Job planning
Programming Manual, 02/2011, 6FC5398-2BP40-1BA0
6.2 Three, four and five axis transformation (TRAORI)
Transformations
339