Siemens SINUMERIK 828D Function Manual

K2: Axis Types, Coordinate Systems, Frames
10.5 Frames
Basic Functions
726 Function Manual, 09/2011, 6FC5397-0BP40-2BA0
Parameterization
The corresponding rotation in frame is parameterized through the machine data:
MD10600 $MN_FRAME_ANGLE_INPUT_MODE (rotation sequence in FRAME)
RPY
RPY is derived from the English:
Rotations with a RPY angle are carried out in the order Z, Y', X''.
Data from RPY angles can only be unambiguously calculated back from the following value ranges:
For data outside the specified value ranges, a modulo conversion is made referred to the value of the particular
range limit.
Value Meaning
1 RPY notation
2 Euler angle
R: Roll → rotation around X
P: Pitch → rotation around Y
Y: Yaw → rotation around Z
-180 <= x <= 180
-90 < y < 90
-180 <= z <= 180
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Siemens SINUMERIK 828D Specifications

General

Control Type	CNC
Operating System	Windows Embedded
Processor	Intel Atom
Display	10.4" color TFT display
Interfaces	Ethernet, USB
Programming	ShopMill, ShopTurn
Operation Panel Size	10.4"
Protection Class	IP65
PLC Memory	2 MB
Spindle Capacity	4 spindles
Hard Drive	CompactFlash