Siemens SINUMERIK 840Di sl Programming Manual page 247

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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.

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)

Fundamentals

Programming Manual, 11/2006, 6FC5398-1BP10-2BA0

6.4 Programmable rotation (ROT, AROT, RPL)

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