Coordinate Systems; Overview - Siemens SINUMERIK 840D sl Programming Manual

Coordinate systems

3.1

Overview

The term frame in the context of ROBX transformation will be explained in this chapter.
Frame
One coordinate system can be transitioned into another one using a frame. In so doing, a
distinction is made between translation and rotation. Whereas the translation causes only an
offset, the rotation turns the coordinate system with regard to the reference system. The X, Y
and Z coordinates are used to describe the translation. They are defined to produce a right-
hand coordinate system. In this case, the translation is performed prior to the rotation.
Translation
Translation always refers to the coordinate directions of the initial system. The directions are
assigned to machine data as follows:
● X direction: ..._POS[0]
● Y direction: ..._POS[1]
● Z direction: ..._POS[2]
Rotation
The RPY angles A, B and C (RPY = Roll Pitch Yaw) are used for rotation. The positive direction
of rotation is defined using the right-hand rule. When the thumb on the right hand is pointing in
the direction of the axis of rotation, then the remaining fingers are pointing in the positive
angular direction. In this respect, please note that A and C are defined at intervals [-180; +180]
and B at intervals [-90; +90]. The RPY angles are specified as follows:
● Angle A: 1. Rotation around the
● Angle B: 2. Rotation around the rotated
● Angle C: 3. Rotation around the
The RPY angles are assigned to machine data as follows:
● Angle A: ..._RPY[0]
● Angle B: ..._RPY[1]
● Angle C: ..._RPY[2]
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Programming Manual, 12/2018, A5E45237742B AB
Z axis of the initial system
Y' axis
X'' axis that has been rotated twice
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