Siemens SINUMERIK 840D sl Function Manual page 36

F2: Multi-axis transformations
1.2 5-axis transformation
mo Position vector in MCS
po $MC_TRAFO5_PART_OFFSET_n[0 ..2]
x Vector of programmed position in BCS
t Tool correction vector
to $MC_TRAFO5_BASE_TOOL_n[0 .. 2]
jo $MC_TRAFO5_JOINT_OFFSET_n[0 .. 2]
Figure 1-7 Schematic diagram of CA kinematics, moved tool
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Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Special Functions