Clockwise face rotations:
U
L
F
R
B
D
Counterclockwise face rotations:
U'
L'
F'
R'
B'
D'
Slice turns:
M
M'
E
E'
S
S'
Double layer turns:
u
l
f
r
b
d
Inverse double layer turns:
u'
l'
f'
r'
b'
d'
Whole cube rotations:
X
X'
Y
Y'
Z
Z'
View angle (change perspective):
X↻
X'↻
Y↻
Y'↻
Z↻
Z'↻