Siemens SINUMERIK 840Di sl Programming Manual page 246

Frames
6.4 Programmable rotation (ROT, AROT, RPL)
Additive statement, AROT X Y Z
Rotation through the angle values programmed in the axis direction parameters. The center
of rotation is the currently set or last programmed zero point.
Note
For both statements, please note the order and direction of rotation, in which the rotations
are performed (see next page)!
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Programming Manual, 11/2006, 6FC5398-1BP10-2BA0
Fundamentals