Siemens SINUMERIK 840D sl Function Manual page 553

Translation in the WCS
The workpiece coordinate system (WCS) lies in the workpiece zero. The workpiece
coordinate system can be shifted and rotated relative to the reference system via frames. As
long as the frame rotation is active, the traversing movements correspond to the translation
of the movements in the basic coordinate system.
Figure 7-29
Translation in the TCS
The tool coordinate system (TCS) lies in the tool tip. Its direction depends on the current
setting of the machine, since the tool coordinate system moves during the motion.
Figure 7-30
Extended Functions
Function Manual, 01/2008, 6FC5397-1BP10-3BA0
Cartesian manual travel in the workpiece coordinate system (translation)
Cartesian manual travel in the tool coordinate system (translation)
Kinematic Transformation (M1)
7.7 Cartesian manual travel (optional)
553