Siemens sinumerik 840D sl Function Manual page 26

Detailed description
2.1 5-axis transformation
Figure 2-3 Schematic diagram of CA kinematics, moved tool
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]
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Special functions: 3-Axis to 5-Axis Transformation (F2)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0