Siemens SINUMERIK 840D sl Programming Manual page 663

In the examples shown here, you can see the arrangements as illustrated by the CA machine
kinematics with the Cardanic tool head!
Machine manufacturer
The axis sequence of the orientation axes and the orientation direction of the tool can be set up
using the machine data as appropriate for the machine kinematics.
In this example, A' lies below the angle φ to the X axis.
NC programming
Programming Manual, 12/2019, 6FC5398-2EP40-0BA0
Z
Y
C
X
Cardanic tool head variant 1
C
Cardanic tool head variant 2
,
A
,
A
Work preparation
3.9 Transformations
663