Siemens SINUMERIK 840D sl Function Manual page 582

TE4: Transformation package handling
13.6 Tool orientation
Figure 13-29 Orientation angle for 5-axis kinematic
It is possible to define orientation axes for the handling transformation package.
Note
Additional information can be found in:
/FB3/ Function Manual, Special Functions, "Orientation Axes"
and
/PGA/ Programming Guide Advanced, "Orientation Axes".
582
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Special Functions