Location Variables 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. eV+Language User's Guide, v2.x, 18318-000 Rev A Page 106