Siemens SINUMERIK 840D sl Programming Manual page 368

Transformations
6.2 Three, four and five axis transformation (TRAORI)
Programming in Euler angles ORIEULER
The values programmed during orientation programming with A2, B2, C2 are interpreted
as Euler angles (in degrees).
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.
In this case the value of C2 (rotation around the new Z axis) is meaningless and does not
have to be programmed.
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Programming Manual, 06/2009, 6FC5398-2BP20-0BA0
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