Siemens SINUMERIK 840Di Function Manual page 772

Detailed Description
2.4 Frames
If the rotary motion is in a clockwise direction when looking in the positive direction of the
coordinate axis, the direction of rotation is positive. A, B and C identify rotations whose axes
are parallel to X, Y and Z.
The machine data below is used to configure the rotation in the frame:
MD10600 $MN_FRAME_ANGLE_INPUT_MODE
1:
2:
2-42
RPY notation
Euler angle
Axis Types, Coordinate Systems, Frames (K2)
Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0