User`s guide

Pitch
Pitch is defined as a rotation about the local reference frame Y axis, after yaw has been
applied. The figure Pitch shows the local reference frame with a yaw of 30 degrees and a pitch
of 40 degrees.
For example, deflection of a wrist joint is reflected in the pitch component. The movement of
a fifth axis on a SCARA robot is reflected in the pitch component. In this example, the motion
device end-of-arm tooling has a pitch of 40 degrees, resulting in a transformation with the
value (X = 30, Y = 100, Z = 125, yaw = 30, pitch = 40, and roll = 0). This location can be
reached only by a mechanism with a fifth axis. Pitch is represented as ±180°, not as 360° of
rotation. Thus, a positive rotation of 190° is shown as -170 degrees.
Location Variables
V+Language User's Guide, v17.0
Page 170