Siemens SINUMERIK 840D sl Function Manual page 840

Detailed description
2.4 Frames
Parameterization
The corresponding rotation in frame is parameterized through the machine data:
MD10600 $MN_FRAME_ANGLE_INPUT_MODE (rotation sequence in FRAME)
Value
1
2
RPY angles
Rotations with a RPY angle are carried out in the order Z, Y', X''.
The angles are only defined ambiguously in the following ranges:
-180
-90
-180
56
Significance
RPY notation
Euler angle
<= x <= 180
< Y < 90
<= z <= 180
Basic logic functions: Axes, coordinate systems, frames (K2)
Function Manual, 11/2006, 6FC5397-0BP10-2BA0