Siemens SINUMERIK 840D sl Programming Manual page 315

Parameters
G....
X Y Z
A B C
A2 B2 C2
A3 B3 C3
A4 B4 C4
A5 B5 C5
LEAD
TILT
Example: Comparison without and with 5-axis transformation
Further information
5-axis programs are usually generated by CAD/CAM systems and not entered at the
controller. So the following explanations are directed mainly at programmers of
postprocessors.
Job Planning
Programming Manual, 03/2013, 6FC5398-2BP40-3BA1
6.2 Three, four and five axis transformation (TRAORI)
Details of the rotary axis motion
Details of the linear axes
Details of the machine axis positions of the
rotary axes
Angle programming (Euler or RPY angle) of
virtual axes or orientation axes
Details of the direction vector components
Details, for example, for the face milling,
the component of the surface normal vector at
block start
Details, for example, for the face milling,
the component of the surface normal vector at
block end
Angle relative to the surface normal vector in
the plane that is defined by the path tangent
and the surface normal vector
Angle in the plane, perpendicular to the path
tangent relative to the surface normal vector
Transformations
315