Siemens SINUMERIK 828D Function Manual page 727

Euler angle
Rotations with a Euler angle are carried out in the order Z, X', Z''.
Data from Euler angles can only be unambiguously calculated back within the following value ranges:
0 <= x <
-180 <= y <=
-180 <= z <=
For data outside the specified value ranges, a modulo conversion is made referred to the value of the particular
range limit.
RPY example
$P_UIFR[1]=crot(x,10,y,90,z,40)
$P_UIFR[1]=crot(x,190,y,0,z,-200) supplies when reading:
On writing and reading frame rotation components, these limits should be observed so the same results are
achieved on writing and reading, or on repeated writing.
Programming
The program commands below are used to program the rotation:
$P_UIFR[1]=CROT(x,10,y,10)
ROT x=10 y=10
$P_UIFR[1,x,rt]=10
Basic Functions
Function Manual, 09/2011, 6FC5397-0BP40-2BA0
180
180
180
returns when reading
back:
K2: Axis Types, Coordinate Systems, Frames
$P_UIFR[1]=crot(x,0,y,90,z,30)
$P_UIFR[1]=crot(x,-170,y,0,z,160)
10.5 Frames
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