Siemens SINUMERIK 840D sl Programming Manual page 248

Transformations
7.2 Three, four and five axis transformation (TRAORI)
In the examples shown here, you can see the arrangements as illustrated by the
CA machine kinematics with the Cardanic tool head!
Machine manufacturer
The axis sequence of the orientation axes and the orientation direction of the tool can be set
up using the machine data as appropriate for the machine kinematics.
In this example, A' lies below the angle φ to the X axis.
7-10
Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0
Job planning