# logging TCP orientation?

**URL:** https://tech-community.robotics.abb.com/t/logging-tcp-orientation/366
**Category:** RobotStudio S4
**Created:** [May 14, 2005, 3:21pm UTC](https://tech-community.robotics.abb.com/t/logging-tcp-orientation/366 "2005-05-14T15:21:05Z")
**Posts on this page:** 1
**Page:** 1

<div class="post-metadata">

### Author: ![efteland](https://avatars.discourse-cdn.com/v4/letter/e/9fc29f/32.png) [@efteland](https://tech-community.robotics.abb.com/u/efteland)
#### Post date: [May 14, 2005, 3:21pm UTC](https://tech-community.robotics.abb.com/t/logging-tcp-orientation/366/1 "2005-05-14T15:21:05Z")

</div>

How can I log the orientation of the TCP to file? What coordinatesystem is the orientation? Euler ZYX?