Rotation In Any Plane - Siemens SINUMERIK 840D sl Function Manual

K2: Axis Types, Coordinate Systems, Frames
10.5 Frames
For data outside the specified value ranges, a modulo conversion is made referred to the value
of the particular range limit.
Note
It is recommended that when writing the rotation components of the frame, the specified value
ranges are observed so that the same values are obtained when reading back the rotation
components.
10.5.2.6

Rotation in any plane

CRPL - Constant Rotation Plane
The predefined function "Constant Rotation Plane" enables a rotation to be programmed for
a frame in an arbitrary plane (G17, G18, G19) without specifying the name of a geometry axis.
This enables rotations to be programmed in the third plane when only two geometry axes are
present in the channel due to the specific machine constellation.
Syntax
CRPL(<rotary axis>,<angle of rotation>)
Meaning
CRPL:
<rotary axis>:Axis around which the rotation is performed
<angle of
rotation>:
714
Rotation in any plane
Type: INT
Value Meaning
0 Rotation in the active plane
1 Rotation around Z
2 Rotation around Y
3 Rotation around X
Angle in degrees through which the rotation is performed
Type: REAL
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 angle: X
Y
Z
ZX'Z" convention: X
Y
Z
-180 <= <angle of rotation> <= 180
-90 <= <angle of rotation> <= 90
-180 <= <angle of rotation> <= 180
-180 <= <angle of rotation> <= 180
0 <= <angle of rotation> <= 180
-180 <= <angle of rotation> <= 180
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Basic Functions