Siemens Sinumerik 840 sl

Transformations
7.2 Three, four and five axis transformation (TRAORI)
Job planning
7-10 Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0
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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.
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In this example, A' lies below the angle φ to the X axis.