diff --git a/doc/api/frames.rst b/doc/api/frames.rst
new file mode 100644
index 0000000..43836e3
--- /dev/null
+++ b/doc/api/frames.rst
@@ -0,0 +1,32 @@
+Working with vectors
+====================
+
+Scalars and Vectors
+~~~~~~~~~~~~~~~~~~~~~~~
+
+.. _scalar:
+
+scalar
+--------------
+
+TODO
+
+.. _vector:
+
+vector
+--------------
+
+TODO
+
+Robot reference frame
+~~~~~~~~~~~~~~~~~~~~~~~
+
+.. _robotframe:
+
+Robot reference frame
+----------------------
+
+TODO (explanation, diagram, etc)::
+    * X: To the right
+    * Y: forward
+    * Z: upward
diff --git a/doc/api/index.rst b/doc/api/index.rst
index c894206..957f1af 100644
--- a/doc/api/index.rst
+++ b/doc/api/index.rst
@@ -35,6 +35,7 @@ Intro
    :hidden:
 
    signaltypes
+   frames
    motors
 
 .. toctree::
diff --git a/doc/api/signaltypes.rst b/doc/api/signaltypes.rst
index e1cf805..21b1d6d 100644
--- a/doc/api/signaltypes.rst
+++ b/doc/api/signaltypes.rst
@@ -197,33 +197,3 @@ Electrical currents are expressed in milliampere (mA).
 
 For example, you can check the current supplied by the :meth:`battery
 <.ev3brick.battery.current>`.
-
-Scalars and Vectors
-~~~~~~~~~~~~~~~~~~~~~~~
-
-.. _scalar:
-
-scalar
---------------
-
-TODO
-
-.. _vector:
-
-vector
---------------
-
-TODO
-
-Robot reference frame
-~~~~~~~~~~~~~~~~~~~~~~~
-
-.. _robotframe:
-
-Robot reference frame
-----------------------
-
-TODO (explanation, diagram, etc)::
-    * X: To the right
-    * Y: forward
-    * Z: upward