Siemens SINUMERIK 828D Function Manual page 728

K2: Axis Types, Coordinate Systems, Frames
10.5 Frames
CRPL - Constant Rotation Plane
The predefined function "Constant Rotation Plane", allows a rotation to be programmed in any plane for each
frame.
Syntax
CRPL(<rotary axis>,<angle of rotation>)
Meaning
Rotation in any plane
CRPL:
Axis around which the rotation is performed
<rotary
axis>:
Type:
Angle in degrees through which the rotation is performed
<angle of
rotation>:
Type:
It is strongly recommended to observe the specified angular ranges. If
the limits are not observed, then an unambiguous reverse calculation is
not possible. Angles outside the limits are not rejected.
RPY:
Euler:
Chaining with frames
CRPL() can be chained with frames and known frame functions such as CTRANS(), CROT(), CMIRROR(),
CSCALE(), CFINE() etc.
Examples:
$P_PFRAME = $P_PFRAME : CRPL(0,30.0)
$P_PFRAME = CTRANS(x,10) : CRPL(1,30.0)
$P_PFRAME = CROT(x,10) : CRPL(2,30.0)
$P_PFRAME = CRPL(3,30.0) : CMIRROR(y)
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INT
Value Meaning
0 Rotation in the active plane
1 Rotation around Z
2 Rotation around Y
3 Rotation around X
REAL
X -180 <= <angle of rotation> <= 180
Y -90 <= <angle of rotation> <= 90
Z -180 <= <angle of rotation> <= 180
X -180 <= <angle of rotation> <= 180
Y 0 <= <angle of rotation> <= 180
Z -180 <= <angle of rotation> <= 180
Function Manual, 09/2011, 6FC5397-0BP40-2BA0
Basic Functions