Siemens SINUMERIK 840DE Programming Manual page 222

Frames
6.4 Programmable rotation (ROT, AROT, RPL)
Programming
ROT X... Y... Z... Substituting instruction for rotation in space
Or
ROT RPL=... Substituting instruction for rotation in the plane
Or
AROTX... Y... Z... Additive instruction for rotation in space
Or
AROT RPL=... Additive instruction for rotation in the plane
Each instruction must be programmed in a separate NC block.
Parameters
ROT,
RPL,
AROT,
X Y Z
6-14
Absolute rotation with reference to the currently valid
workpiece zero set with G54 to G599
Rotation in the plane: Angle, through which the coordinate
system is rotated (plane set with G17-G19). The order, in
which the rotation should be performed can be defined via
machine data. RPY notation is the default setting (= roll,
pitch, yaw) with Z,Y,X
Additive rotation with reference to the currently valid set or
programmed zero point
Rotation in space: geometry axes, around which the rotation
takes place
Programming Manual, 10.2004 Edition, 6FC5 298-7AB00-0BP1
Fundamentals