Siemens SINUMERIK 840D sl Programming Manual page 29

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 Expansion Functions; M1: Kinematic transformation
Function Manual, Special Functions; F2: Multi-axis transformations
Fundamentals
Programming Manual, 09/2011, 6FC5398-1BP40-2BA0
Kinematic transformation between the MCS and BCS
Fundamental Geometrical Principles
1.4 Coordinate systems
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