Siemens SINUMERIK 840DE Programming Manual page 231

Examples of reading back in RPY
$P_UIFR[1] = CROT(X, 10, Y, 90, Z, 40)
returns on reading back
$P_UIFR[1] = CROT(X, 0, Y, 90, Z, 30)
$P_UIFR[1] = CROT(X, 190, Y, 0, Z, -200)
returns on reading back
$P_UIFR[1] = CROT(X, -170, Y, 0, Z, 160)
When frame rotation components are read and written, the value range limits must be
observed to ensure that the same results are obtained for read or write, or repeat write
operations
Value range with Euler angle
The angles are defined uniquely only within the following value ranges:
Rotation around 1st geometry axis: 0° < X < +180°
Rotation around 2nd geometry axis: 180° ≤ Y ≤ +180°
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. This value range applies to all frame
variables.
Caution
To ensure the angles written are read back unambiguously, it is necessary to observe the
defined values ranges.
Note
If you want to define the order of the rotations individually, program the desired rotation
successively for each axis with AROT.
References:Function Description of the Basic Machine /FB1/, Chapter "Frames"
The working plane also rotates
The working plane defined with G17, G18 or G19 rotates with the spatial rotation.
Example: Working plane G17 X/Y, the workpiece coordinate system is positioned on the top
surface of the workpiece. Translation and rotation is used to move the coordinate system to
one of the side surfaces. Working plane G17 also rotates. This feature can be used to
program plane destination positions in X/Y coordinates and the infeed in the Z direction.
Fundamentals
Programming Manual, 10.2004 Edition, 6FC5 298-7AB00-0BP1
.
6.4 Programmable rotation (ROT, AROT, RPL)
Frames
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