Hi,I'm having trouble understanding how the Rx,Ry and Rz values are calculated with respect to the base on a UR3 robot. I'm seeing some oddities that I can't explain. I updated to the latest 4.6.1 software from 4.4 and still see the same issue:1) Align end effector vertically so the z-axis is pointing upwards as well as can be. 2) Rotate wrist so tool rotates around z-axis3) Observe Rx and Ry values staying more or less constant and Rz axis values changing. (This is via the move screen and using Base feature)All well and good so far! However:1) Rotate 2nd joint from end so that tool points down and z-axis points down vertically. Presumably one of the most common modes of operation (eg pick and place)2) Rotate wrist so tool rotates around z-axis.3) Observe Rx and Ry values changing and Rz value staying constant. (This is via the move screen and using Base feature)Confusion. Also note that x-axis rotation using the orientation arrows works as expected, but y-axis rotation works as above (seemingly incorrect). However, the actual physical movement is as expected.Can someone please enlighten me as to what I'm missing here? (I'm familiar with motion control, but a 6-axis robot newbie).Thanks!Andy Barnes.