Siemens SINUMERIK 840DE sl Function Manual page 168

F2: Multi-axis transformations
3.5 Cardan milling head
Tool orientation
Tool orientation at zero position can be specified as follows:
● parallel to the first rotary axis or
● perpendicular to it, and in the plane of the specified axis sequence
Types of kinematics
The axis sequence of the rotary axes and the orientation direction of the tool at zero position are
set for the different types of kinematics using the following machine data:
$MC_TRAFO_TYPE_1 ... $MC_TRAFO_TYPE_10
Axis designation scheme
As for the other 5-axis transformations, the following applies:
the rotary axis ...
...A is parallel to X: A' is below the angle φ to the X axis
...B is parallel to Y: B' is below angle φ to the Y axis
...C is parallel to Z: C' is below angle φ to the Z axis
Angle definition
Figure 3-20
168
Position of axis A'
ϕ
Function Manual, 06/2019, A5E47435470B AA
Transformations