Frames
6.4 Programmable rotation (ROT, AROT, RPL)
Fundamentals
Programming Manual, 11/2006, 6FC5398-1BP10-2BA0
247
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.
=
<
;
Order of rotation
You can rotate up to three geometry axes simultaneously in one NC block.
The order of the RPY notation or Euler angle, through which the rotations are performed can
be defined in machine data.
MD 10600: FRAME_ANGLE_INPUT_MODE =
• RPY notation (RPY notation is the default setting)
• Euler angles
After that, the sequence Z, Y, X of the rotation is defined as follows:
Rotation around the 3rd geometry axis (Z)
Rotation around the 2nd geometry axis (Y)
Rotation around the 1st geometry axis (X)
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