Location Variables Pitch Roll Roll is defined as a rotation about the Z axis of the local reference frame after yaw and pitch have been applied. The figure Roll shows a local reference frame in the primary robot Cartesian space and the direction roll would take within that space. In this example the transformation has a value of X = 30, Y = 100, Z = 125, yaw = 30, pitch = 40, and roll = 20. This location can be reached only by a mechanism with fifth and sixth axes. Roll eV+Language User's Guide, v2.x, 18318-000 Rev A Page 107