Siemens SINUMERIK 840DE Programming Manual page 229

Note
For both instructions, please note the order and direction of rotation, in which the rotations
are performed (see next page)!
Direction of rotation
The following is defined as the positive direction of rotation: The view in the direction of the
positive coordinate axis and clockwise rotation.
Fundamentals
Programming Manual, 10.2004 Edition, 6FC5 298-7AB00-0BP1
6.4 Programmable rotation (ROT, AROT, RPL)
Frames
6-21