Fanuc Series 15i/150i-MA (Programming) Operators Manual

B-63324EN/03 PROGRAMMING 13.FUNCTIONS TO SIMPLIFY PROGRAMMING
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1
n
: Cosine of the angle made by the rotation axis and X-axis
22
kji
i
++
2
n
: Cosine of the angle made by the rotation axis and Y-axis
22
kji
j
++
3
n
: Cosine of the angle made by the rotation axis and Z-axis
22
kji
k
++
θ
: Angular displacement
Conversion matrices for rotation on two-dimensional planes are shown
below:
(1) Coordinate conversion on the XY plane
=
100
0cossin
0sincos
θθ
θθ
M
(2) Coordinate conversion on the YZ plane
=
θθ
θθ
cossin0
sincos0
001
M
(3) Coordinate conversion on the ZX plane
=
ϑθ
θθ
cos0sin
010
sin0cos
M

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