Siemens SINUMERIK 840D sl Programming Manual page 302

Transformations
6.1 General programming of transformation types
Machine kinematics for three, four and five axis transformation (TRAORI)
Either the tool or the tool table can be rotatable with up to two rotary axes. A combination of
swivel head and rotary table (single-axis in each case) is also possible.
Machine type
Three-axis transformation
machine types 1 and 2
Four-axis transformation
machine types 1 and 2
Five-axis transformation
machine types 3
Single-axis swivel head and
single-axis rotary table
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Programming of orientation
Programming of tool orientation only in the plane, which is
perpendicular to the rotary axis. There are
two translatory axes (linear axes) and
one axis of rotation (rotary axis).
Programming of tool orientation only in the plane, which is
perpendicular to the rotary axis. There are
three translatory axes (linear axes) and
one axis of rotation (rotary axis).
Programming of orientation transformation. Kinematics with
three linear axes and two orthogonal rotary axes.
The rotary axes are parallel to two of the three linear axes. The
first rotary axis is moved by two Cartesian linear axes. It rotates
the third linear axis with the tool. The second rotary axis rotates
the workpiece.
Programming Manual, 03/2013, 6FC5398-2BP40-3BA1
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