Siemens Sinumerik 840D sl Programming Manual page 308

Coordinate transformations (frames)
13.2 Frame instructions
Syntax
Substituting statements
TRANS X... Y... Z...
ROT X... Y... Z...
ROT RPL=...
ROTS/CROTS X... Y...
SCALE X... Y... Z...
MIRROR X0/Y0/Z0
Meaning
308
Additive statements
ATRANS X... Y... Z...
AROT X... Y... Z...
AROT RPL=...
AROTS X... Y...
ASCALE X... Y... Z...
AMIRROR X0/Y0/Z0
Programming Manual, 01/2015, 6FC5398-1BP40-5BA2
Fundamentals