Siemens SINUMERIK 840D sl Function Manual page 573

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
Extended Functions
Function Manual, 09/2009, 6FC5397-1BP20-0BA0
Cartesian manual travel in the basic coordinate system orientation angle C
Cartesian manual travel in the tool coordinate system, orientation angle A
M1: Kinematic transformation
7.7 Cartesian manual travel (optional)
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