Siemens SINUMERIK 840D sl Function Manual page 556

Kinematic Transformation (M1)
7.7 Cartesian manual travel (optional)
Figure 7-33
Orientation in TCS
The rotations are around the moving directions in the tool coordinate system. The current
homing directions of the tool are always used as rotary axes.
Figure 7-34
556
Cartesian manual travel in the basic coordinate system orientation angle C
Cartesian manual travel in the tool coordinate system, orientation angle A
Function Manual, 01/2008, 6FC5397-1BP10-3BA0
Extended Functions