Siemens sinumerik 840D sl Function Manual page 695

Detailed description
2.5 Tool orientation
Figure 2-29 Orientation angle for 4-axis kinematic
2.5.3 Orientation programming for 5-axis kinematics
Tool orientation for 5-axis kinematics
For 5-axis kinematics, when programming via orientation vector, it is assumed that the
orientation vector corresponds to the x component of the tool.
When programming via orientation angle (RPY angle according to robotics definition), the x
component of the tool is considered as the initial point for rotations.
For this purpose, the vector in the x tool direction, as shown in Fig. "Orientation angle for 5-
axis kinematic", is first rotated around the Z axis by the angle A and then around the rotated
Y axis by the angle B. The rotation by the angle C is not possible for 5-axis kinematics
because of the restricted degrees of freedom for the orientation.
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Special functions: Handling Transformation Package (TE4)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0