Siemens sinumerik 840D sl Function Manual page 110

Examples
4.1 Example of a 5-axis transformation
$MC_TRAFO5_PART_OFFSET_1[1] = 0
$MC_TRAFO5_PART_OFFSET_1[2] = 0
$MC_TRAFO5_ROT_AX_OFFSET_1[0] = 0
$MC_TRAFO5_ROT_AX_OFFSET_1[1] = 0
$MC_TRAFO5_ROT_SIGN_IS_PLUS_1[0] = TRUE
$MC_TRAFO5_ROT_SIGN_IS_PLUS_1[1] = TRUE
$MC_TRAFO5_NON_POLE_LIMIT_1 = 2.0
$MC_TRAFO5_POLE_LIMIT_1 = 2.0
$MC_TRAFO5_BASE_TOOL_1[0] = 0.0
$MC_TRAFO5_BASE_TOOL_1[1] = 0.0
$MC_TRAFO5_BASE_TOOL_1[2] = 5,0
$MC_TRAFO5_JOINT_OFFSET_1[0] = 0.0
$MC_TRAFO5_JOINT_OFFSET_1[1] = 0.0
$MC_TRAFO5_JOINT_OFFSET_1[2] = 0.0
CHANDATA(1)
M17
Program example for general 5-axis transformation:
; Definition of tool T1
$TC_DP1[1,1] = 10
$TC_DP2[1,1] = 0
$TC_DP3[1,1] = ;z length compensation vector G17
$TC_DP4[1,1] = 0.
$TC_DP5[1,1] = 0.
$TC_DP6[1,1] = 0.
$TC_DP7[1,1] = 0
$TC_DP8[1,1] = 0
$TC_DP9[1,1] = 0
$TC_DP10[1,1] = 0
$TC_DP11[1,1] = 0
$TC_DP12[1,1] = 0
Approach initial position:
N100 G1 x1 y0 z0 a0 b0 F20000 G90 G64 T1 D1 G17 ADIS=.5 ADISPOS=3
104
; Type
; y
; x
; Radius
Special functions: 3-Axis to 5-Axis Transformation (F2)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0