Siemens SINUMERIK 840D Programming Manual

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.

Siemens SINUMERIK 840D Specifications

General

Series	SINUMERIK 840D
Axes	Up to 31
Channels	Up to 10
Operating System	Windows-based
Power Supply	24 V DC
Control Unit Type	CNC
Interface	Ethernet, PROFIBUS
Display	TFT color display
Interpolation	Spline
PLC	Integrated PLC
Data Storage	CompactFlash, USB