Siemens SINUMERIK 828D Programming Manual page 31

Machine tools with kinematic transformation
BCS and MCS do not coincide when the BCS is mapped onto the MCS with kinematic
transformation (e.g. 5-axis transformation, TRANSMIT/TRACYL/TRAANG).
On such machines the machine axes and geometry axes must have different names.
Figure 1-7
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, Extended Functions; Kinematic Transformation (M1)
Function Manual, Special Functions; 3-Axis to 5-Axis Transformation (F2)
Fundamentals
Programming Manual, 07/2010, 6FC5398-1BP40-0BA0
Kinematic transformation between the MCS and BCS
Fundamental Geometrical Principles
1.4 Coordinate systems
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