Siemens SINUMERIK 840D sl Function Manual page 774

K2: Axis Types, Coordinate Systems, Frames
10.5 Frames
Z, Z-X planes) (see figure). The machine operator is not expected to convert these solid angles
into the angles of rotation of a chaining of individual rotations.
①
α, β,
γ
A
B
C
Figure 10-25 Rotation with solid angles
For this reason, the language commands ROTS, AROTS and CROTS are used, with which the
rotations can be immediately described as solid angles.
The orientation of a plane in space is defined unambiguously by specifying two solid angles.
The third solid angle is derived from the first two. Therefore, a maximum of two solid angles
may be programmed, e.g. in the form ROTS X10 Y15. If a third solid angle is specified, an
alarm will be triggered.
It is permissible to specify a single solid angle. The rotations which are performed with ROTS
or AROTS in this case are identical to those for ROT and AROT.
An expansion of the existing functionality arises only in cases where exactly two solid angles
are programmed.
The two programmed axes define a plane, the non-programmed axis defines the related third
axis of a right-hand coordinate system. Which axis is first and which second is then
unambiguously defined for both programmed axes (the definition corresponds to those found
in the plane definition of G17/G18/G19). The angle programmed with the axis letter of an axis
774
Inclined plane
Solid angle
New G17' plane parallel to the inclined plane:
1. Rotation of x around y through the angle α
2. Rotation of y around x' through the angle β
New G18' plane parallel to the inclined plane:
1. Rotation of z around x through the angle γ
2. Rotation of x around z' through the angle α
New G19' plane parallel to the inclined plane:
1. Rotation of y around z through the angle β
2. Rotation of z around y' through the angle γ
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Basic Functions