Location Variables 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). eV+Language User's Guide, v2.x, 18318-000 Rev A Page 104