01.93 4 Programming of Motion Blocks
4.2.11 Coordinate transformation 2D G133, G233, G333/3D G135, G235, G335
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x, y, z = real coordinate system
u, v, w = fictitious coordinate system
a
1
, a
2
, a
3
= offset
= angle of rotation
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x=x
1
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3
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z
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z
1
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y
1
Rotation
–
first step: rotation of the real coordinate system (x, y, z) about x axis of the real coordinate system
(x
1
, y
1
, z
1
)
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x, y, z = real coordinate system
u, v, w = fictitious coordinate system
a
1
, a
2
, a
3
= offset
= angle of rotation
u
w
v
a
a
a
a
1
a
a
a
a
a
2
a
a
x
1
a
a
a
3
a
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a
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z
2
a
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a
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a
a
y
2
=y
1
a
a
z
1
a
a
x
2
Rotation
–
second step: rotation of the real coordinate system (x
1
, y
1
, z
1
) about y axis of the real coordinate
system (x
2
, y
2
, z
2
)
© Siemens AG 1991 All Rights Reserved 6ZB5 410-0HD02 4–39
SINUMERIK 880, (PG)
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