Siemens Sinumerik 840D sl Programming Manual page 324

Coordinate transformations (frames)
13.5 Programmable frame rotations with solid angles (ROTS, AROTS, CROTS)
①
α, β, γ
Syntax
Requirements
The position of a plane in space is clearly defined by two solid angles. The plane would be
"over-defined" by the specification of a third solid angle. It is therefore not permitted.
If only one solid angle is programmed, the rotation of the WCS is identical to ROT, AROT (see
Section "Programmable rotation (ROT, AROT, RPL) (Page 316)").
Through the two programmed axes, a plane is specified according to the plane definitions for
G17, G18, G19. This defines the sequence of the coordinate axes (1st axis / 2nd axis of the
plane) or the sequence of the rotations through the solid angles:
324
Inclined plane
Solid angle
A New G17' plane parallel to the inclined plane:
- 1. rotation of x around y through the angle α
- 2nd rotation of y around x' through the angle β
B New G18' plane parallel to the inclined plane:
- 1. rotation of z around x through the angle γ
- 2nd rotation of x around z' through the angle α
C New G19' plane parallel to the inclined plane:
- 1. rotation of y around z through the angle β
- 2nd rotation of z around y' through the angle γ
Plane
G17
G18
G19
1. 1st axis
X
Z
Y
Programming Manual, 01/2015, 6FC5398-1BP40-5BA2
2. Axis
Y
X
Z
Fundamentals