Siemens SINUMERIK 840D sl Programming Manual page 356

Coordinate transformations (frames)
12.4 Programmable rotation (ROT, AROT, RPL)
AROT X... Y... Z...
Rotation through the angle values programmed in the axis direction parameters. The center
of rotation is the currently set or last programmed zero point.
Note
In the case of both operations, please bear in mind the sequence and direction in which the
rotations are being executed!
Direction of rotation
The following is defined as the positive direction of rotation: The view in the direction of the
positive coordinate axis and clockwise rotation.
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Programming Manual, 09/2011, 6FC5398-1BP40-2BA0
Fundamentals