User`s guide

XYZ Elements of a Transformation
The second three components of a transformation variable specify the orientation of the end-
of-arm tooling. These three components are yaw, pitch, and roll. These elements are figured
as ZYZ' Euler values. The following figures demonstrate how these values are interpreted.
Yaw
Yaw is a rotation about the local reference frame Z axis. This rotation is not about the primary
reference frame Z axis, but is centered at the origin of the local frame of reference. The figure
Yaw shows the yaw axis with a rotation of 30 degrees. Note that it is parallel to the primary
reference frame Z axis but may be centered at any point in that space. In this example, the
yaw value is 30 degrees, resulting in a transformation with the value (X = 30, Y = 100, Z =
125, yaw = 30, pitch = 0, and roll = 0).
Location Variables
V+Language User's Guide, v17.0
Page 168