Siemens SINUMERIK 840D sl Function Manual page 697

Machine tools with kinematic transformation
The BCS and MCS do not coincide when the BCS is mapped onto the MCS with kinematic
transformation (e.g. TRANSMIT / face transformation, 5-axis transformation or more than three
axes).
On such machines the machine axes and geometry axes must have different names.
Figure 10-15 Kinematic transformation between the MCS and BCS
Machine kinematics
The workpiece is always programmed in a two- or three-dimensional, right-angled coordinate
system (WCS). However, such workpieces are being programmed ever more frequently on
machine tools with rotary axes or linear axes not perpendicular to one another. Kinematic
transformation is used to represent coordinates programmed in the workpiece coordinate
system (rectangular) in real machine movements.
References:
Function Manual, Special Functions; 3- to 5-Axis Transformation (F2)
Function Manual, Extended Functions; Kinematic Transformation (M1)
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
K2: Axis Types, Coordinate Systems, Frames
10.4 Coordinate systems
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