Siemens SINUMERIK 840D sl Programming Manual page 358

Transformations
6.2 Three, four and five axis transformation (TRAORI)
The following possible relations are generally valid:
A' lies below the angle φ to the
B' lies below the angle φ to the
C' lies below the angle φ to the
Angle φ can be configured in the range 0° to +89° using machine data.
With swiveling linear axis
This is an arrangement with a moving workpiece and a moving tool. The kinematics consists
of three linear axes (X, Y, Z) and two orthogonally arranged rotary axes. The first rotary axis
is moved, for example, over a compound slide of two linear axes, the tool standing parallel to
the third linear axis. The second rotary axis turns the workpiece. The third linear axis (swivel
axis) lies in the compound slide plane.
358
X axis
Y axis
Z axis
Programming Manual, 06/2009, 6FC5398-2BP20-0BA0
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