Siemens Sinumerik 840D sl Programming Manual page 330

Transformations
6.2 Three, four and five axis transformation (TRAORI)
5-Axis Transformation
Cardanic tool head
Three linear axes (X, Y, Z) and two orientation axes (C, A) define the setting angle and the
operating point of the tool here. One of the two orientation axes is created as an inclined axis,
in our example A' - in many cases, placed at 45°.
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.
In this example, A' lies below the angle φ to the X axis.
330
Programming Manual, 02/2011, 6FC5398-2BP40-1BA0
Job planning