Siemens SINUMERIK Series

M1: Kinematic transformation
6.7 Cartesian manual travel (optional)
Extended Functions
410 Function Manual, 03/2013, 6FC5397-1BP40-3BA1
Orientation in TCS
The rotations are around the moving directions in the tool coordinate system. The current
homing directions of the tool are always used as rotary axes.
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Figure 6-27 Cartesian manual travel in the tool coordinate system, orientation angle A
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Figure 6-28 Cartesian manual travel in the tool coordinate system, orientation angle B
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Figure 6-29 Cartesian manual travel in the tool coordinate system, orientation angle C