Siemens SINUMERIK 840D sl Programming Manual page 658

Work preparation
3.9 Transformations
not exactly parallel with the linear axes, "generic five-/six-axis transformation" can provide
better results in respect of tool orientation.
Kinematic transformations TRANSMIT, TRACYL and TRAANG
For milling on turning machines or an axis that can be set for inclined infeed during grinding, the
following axis arrangements apply by default in accordance with the transformation declared:
TRANSMIT
Face machining in the turning
clamp
TRACYL
Machining of grooves with any
path on cylindrical bodies
TRAANG
Machining with an oblique in‐
feed axis
Cartesian PTP travel
The machine moves in machine coordinates and is programmed with:
TRAORI
PTP point-to-point traversing
CP
STAT
TU
PTP transversal with generic 5/6-axis transformation
The machine is moved using machine coordinates and the tool orientation, where the
movements can be programmed both using round axis positions and using Euler and/or RPY
angle vectors irrespective of the kinematics or the direction vectors.
Round axis interpolation, vector interpolation with large circle interpolation or interpolation of
the orientation vector on a peripheral surface of a taper are possible in such cases.
658
Activation of polar transformation
A rotary axis
An infeed axis vertical to the axis of rotation
A longitudinal axis parallel to the axis of rotation
Activation of the cylinder surface transformation
A rotary axis
An infeed axis vertical to the axis of rotation
A longitudinal axis parallel to the axis of rotation
Activation of the inclined axis transformation
A rotary axis
An infeed axis with parameterizable angle
A longitudinal axis parallel to the axis of rotation
Activation of transformation
Approach position in Cartesian coordinate system (MCS)
Path motion of Cartesian axes in the BCS
Position of the articulated joints is dependent on the transformation
The angle at which the axes traverse on the shortest path
Programming Manual, 12/2019, 6FC5398-2EP40-0BA0
NC programming