Siemens SINUMERIK 840D sl Function Manual page 61

Tool orientation
Tool orientation at zero position can be specified as follows:
● parallel to the first rotary axis or
● perpendicular to it, and in the plane of the specified axis sequence
Types of kinematics
The axis sequence of the rotary axes and the orientation direction of the tool at zero position
are set for the different types of kinematics using the following machine data:
$MC_TRAFO_TYPE_1 ... $MC_TRAFO_TYPE_10
Axis designation scheme
As for the other 5-axis transformations, the following applies:
the rotary axis ...
...A is parallel to X: A' is below the angle φ to the X axis
...B is parallel to Y: B' is below angle φ to the Y axis
...C is parallel to Z: C' is below angle φ to the Z axis
Angle definition
Figure 2-20
Special functions
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Position of axis A'
F2: Multi-axis transformations
2.5 Cardan milling head
ϕ
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