{Rx,Ry,Rz},{-Bx,By,0},{0,0,0},{Bx,By,0},{-Bx,By,Bz},{0,0,Bz},{Bx,By,Bz} Beacon To Robot Screen

Tx x + Ty y + Tz z == Tx Cx + Ty Cy + Tz Cz

{Bx,By,Bz} → {Stlx,Stly,Stlz}, {-Bx,By,Bz} → {Strx,Stry,Strz}

{0,0,0} → {Sbx,Sby,Sbz}

{0,0,Bz} → {Stx,Sty,Stz}

{Bx,By,0} → {Sblx,Sbly,Sblz}, {-Bx,By,0} → {Sbrx,Sbry,Sbrz}

Source