Siemens SINUMERIK 840DE Programming Manual page 230

Frames
6.4 Programmable rotation (ROT, AROT, RPL)
Order of rotation
You can rotate up to three geometry axes simultaneously in one NC block.
The order of the RPY notation or Euler angle, through which the rotations are performed can
be defined in machine data.
MD 10600: FRAME_ANGLE_INPUT_MODE =
• RPY notation (RPY notation is the default setting)
• Euler angles
After that, the sequence Z, Y, X of the rotation is defined as follows:
Rotation around the 3rd geometry axis (Z)
Rotation around the 2nd geometry axis (Y)
Rotation around the 1st geometry axis (X)
This order applies if the geometry axes are programmed in a single block. It also applies
irrespective of the input sequence. If only two axes are to be rotated, the parameter for the
3rd axis (value zero) can be omitted.
Value range with RPY angle
The angles are defined uniquely only within the following value ranges:
Rotation around 1st geometry axis: 180° ≤ X ≤ +180°
Rotation around 2nd geometry axis: 90° < Y < +90°
Rotation around 3rd geometry axis: 180° ≤ Z ≤ +180°
All possible rotations can be represented with this value range. Values outside the range are
normalized by the control into the above range during writing and reading. This value range
applies to all frame variables.
6-22
Z
0
2
X
Y
1
Programming Manual, 10.2004 Edition, 6FC5 298-7AB00-0BP1
Fundamentals