Siemens Sinumerik 840D sl Programming Manual page 325

Alignment of the G17 plane ⇒ solid angle for X and Y
● 1. Rotation X around Y through the angle α
● 2. Rotation Y around X' through the angle β
● Orientation: X' is in the original Z/X plane.
ROTS
AROTS X<α> Y<β>
CROTS X<α> Y<β>
Alignment of the G18 plane ⇒ solid angle for Z and X
● 1. 1st rotation: Z around X through the angle γ
● 2. Rotation X around Z' through the angle α
● Orientation: Z' is in the original Y/Z plane
ROTS
AROTS Z<γ> X<α>
CROTS Z<γ> X<α>
Alignment of the G19 plane ⇒ solid angle for Y and Z
● 1. Rotation Y around Z through the angle β
● 2. Rotation Z around Y' through the angle γ
● Orientation: Y' is in the original X/Z plane.
ROTS
AROTS Y<β> Z<γ>
CROTS Y<β> Z<γ>
Meaning
ROTS:
AROTS:
CROTS:
X, Y, Z:
Α, β, γ:
Fundamentals
Programming Manual, 01/2015, 6FC5398-1BP40-5BA2
13.5 Programmable frame rotations with solid angles (ROTS, AROTS, CROTS)
X<α> Y<β>
Z<γ> X<α>
Y<β> Z<γ>
Absolute frame rotations with solid angles,
reference frame: Programmable frame $P_PFRAME
Additive frame rotations with solid angles,
reference frame: Programmable frame $P_PFRAME
Absolute frame rotations with solid angles,
reference frame: Programmed frame $P_ ...
Geometry axis identifiers (see note above: Geometry axis identifiers)
Solid angle in relation to the appropriate geometry axis:
● α → X
● β → Y
● γ → Z
Coordinate transformations (frames)
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