Siemens SINUMERIK 840D sl Function Manual page 37

Figure 1-8
Figure 1-9
Special Functions
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Schematic diagram of CB kinematics, moved workpiece
Schematic diagram of AC kinematics, moved tool, moved workpiece
F2: Multi-axis transformations
1.2 5-axis transformation
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