Orientation angle mode (P-CHAN-00112)


Mode of orientation angle programming for kinematic transformations


With a complete transformation, orientation about the coordinate system axes can be programmed either by using an orientation vector with the three components U, V, W or by using three rotation angles A, B, C depending on the transformation type.

Due to the additional degree of freedom provided by manual orientation, programming the rotation angles A, B, C is often the property of robot structures.

The sequence of the three rotations about the assigned rotary axes X, Y, Z leads to the required target orientation or to the target effector coordinate system. If not otherwise defined, single rotations are executed in a mathematically positive direction about the coordinate system axes which are to be reset.

The starting point is an axis sequence with the Cartesian axes X, Y, Z and the rotary axes A, B, C. The default assignment of rotations about the coordinate system axes is A -> X, B -> Y, C -> Z. This may deviate with special angle modes.

Some kinematics use special sequences of rotation which are not listed here. In this case, a switchover using P-CHAN-00112 is not possible. P-CHAN-00112 has no measuring with standard five-axis kinematics.

Special values can be entered in P-CHAN-00112 for Universal Kinematics (KIN-ID91).



Data type


Data range

-1: Programmed orientation axes are forwarded to kinematic transformation without any changes. Any Cartesian transformation which may be active with an active rotation has no influence on these orientation axes

Complete kinematics transformations:

0: YPR (Yaw Pitch Role) sequence of rotation: 1. Rotation around Z (C), 2. Negative rotation around Y´ (B), 3. rotation about X´´ (A) (default)

1: Euler, order of rotation: 1. Rotation around Z (C), 2. Rotation around Y´ (B), 3. rotation around Z´´ (C)

2: CBA, similar to YPR with positive B rotation and different axis assignment. Rotation around Z (A), 2. Rotation around Y´ (B), 3. rotation about X´´ (C).

-> A15 B-90 C20 (CBA) is identical to A20 B90 C15 (YPR).

Universal kinematics transformations (KIN-ID 91):

10: Point-vector programming. Tool orientation is programmed by the axes U, V, W. The vector [U, V, W] need not be normalised but neither may it be the zero vector.

11: Free programming. Not currently supported.

12: Direct programming. The configured kinematic chain is used to calculate the tool position and orientation from programmed Cartesian coordinates and angles.

13: Conformal programming. Same as direct programming, but without any axis offsets, shifts or direction flags. For example, enables the programming of 45° axis positions.

14: AB programming. 15: BA programming. 16: AC programming.

17: CA programming. 18: BC programming. 19: CB programming.



Default value