Siemens SINUMERIK 840D sl Programming Manual page 341

Meaning
TRANS/ATRANS:
ROT/AROT:
Fundamentals
Programming Manual, 09/2011, 6FC5398-1BP40-2BA0
Workpiece coordinate system offset in the direction of the specified
geometry axis or axes
Workpiece coordinate system rotation:
• By linking individual rotations around the specified geometry
axis or axes
or
• Around the angle RPL=... in the current working plane (G17/
G18/G19)
Direction of
rotation:
Rotation With RPY notation: Z, Y', X''
sequence:
With Euler angle:
Range of values: The angles of rotation are only defined
unambiguously in the following ranges:
With RPY
notation:
With Euler angle:
Coordinate transformations (frames)
12.2 Frame instructions
Z, X', Z''
-180 ≤ x
-90 < y
-180 ≤ z
0 ≤ x
-180 ≤ y
-180 ≤ z
≤ 180
< 90
≤ 180
< 180
≤ 180
≤ 180
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