Siemens Sinumerik 840D sl Programming Manual page 317

Note
Euler angle
The rotations of the workpiece coordinate system are performed via Euler angles. A detailed
description can be found in:
References
Function Manual, Basic Functions; Section "Axes, coordinate systems, frames (K2)" >
"Frames" > "Frame components" > "Rotation ..."
Meaning
ROT:
AROT:
<nth GeoAx>:
RPL:
<Angle>
Fundamentals
Programming Manual, 01/2015, 6FC5398-1BP40-5BA2
Absolute rotation
Reference Programmable frame $P_PFRAME
frame:
Reference point: Zero point of the current workpiece coordinate system set with
G54 ... G57, G505 ... G599
Additive rotation
Reference Programmable frame $P_PFRAME
frame:
Reference point: Zero point of the current workpiece coordinate system set with
G54 ... G57, G505 ... G599
Identifier of the nth geometry axis around which rotation is to be performed with
the specified angle.
The value 0° is implicitly set as angle of rotation for a geometry axis that has not
been programmed.
Rotation around the geometry axis perpendicular to the active plane (G17, G18,
G19) by the specified angle
Reference Programmable frame $P_PFRAME
frame:
Reference point: Zero point of the current workpiece coordinate system set with
G54 ... G57, G505 ... G599
Angle specification in degrees.
Range of values: -360° ≤ angle ≤ 360°
Coordinate transformations (frames)
13.4 Programmable rotation (ROT, AROT, RPL)
317