Siemens Sinumerik 840D sl Programming Manual page 340

Transformations
6.2 Three, four and five axis transformation (TRAORI)
Programming in RPY angles ORIRPY
The values programmed with A2, B2, C2 for orientation programming are interpreted as an
RPY angle (in degrees).
Note
In contrast to Euler angle programming, all three values here have an effect on the
orientation vector.
Machine manufacturer
When defining angles with orientation angles via RPY angle, for the orientation axes
$MC_ORI_DEF_WITH_G_CODE = 0
The orientation vector results from turning a vector in the Z direction firstly with C2 around the
Z axis, then with B2 around the new Y axis and lastly with A2 around the new X axis.
By defining the orientation axes via G code, if the machine data
$MC_ORI_DEF_WITH_G_CODE = 1, then:
The orientation vector results from turning a vector in the Z direction firstly with A2 around the
Z axis, then with B2 around the new X axis and lastly with C2 around the new Z axis.
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Programming Manual, 02/2011, 6FC5398-2BP40-1BA0
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