Siemens SINUMERIK 828D Programming Manual page 370

Coordinate transformations (frames)
12.4 Programmable rotation (ROT, AROT, RPL)
Note
AROT
AROT X... Y... Z...
Rotation through the angle values programmed in the axis direction parameters. The center
of rotation is the currently set or last programmed zero point.
Note
In the case of both operations, please bear in mind the sequence and direction in which the
rotations are being executed!
370
can be used to program a new rotation to be added to existing frames.
Programming Manual, 07/2010, 6FC5398-1BP40-0BA0
Fundamentals