Used Used Machining Centers for sale (93,017)

Condition: good (used), Year of construction: 2008, travel distance X-axis: 1,000 mm, travel distance Y-axis: 900 mm, travel distance Z-axis: 1,000 mm, controller model: OKUMA OSP P200M, total height: 3,150 mm, total length: 6,500 mm, total width: 3,000 mm, table width: 630 mm, table length: 630 mm, rotational speed (max.): 6,000 rpm, overall weight: 22,500 kg, spindle speed (min.): 6,000 rpm, number of spindles: 1, number of slots in tool magazine: 150, type of input current: three-phase, Equipment: chip conveyor, documentation/manual, rotational speed infinitely variable, The Okuma MA series is a horizontal machining center with large travels for heavy-duty machining. The X/Y/Z travels are 1000/900/1000 mm. This machine is designed for very high precision and, above all, stability when machining large workpieces. The pallet size is 630 x 630 mm. Dksdpfx Asyg Rb Refneh - OSP P200M - Year of manufacture: 2008 - Cutting time: 17,500 h - Renishaw Tool Eye - ATC 150 SK50 - 2-pallet system - Spindle speed: 6,000 RPM - B-axis NCB 0.001 degree - X/Y/Z 1000/900/1000 mm - Mayfran Consept coolant system with chip conveyor and high-pressure pump 60 bar

Condition: good (used), Year of construction: 2007, Used Mazak Machining Center X-axis travel: 1,740 mm Y-axis travel: 760 mm Z-axis travel: 660 mm Rapid traverse X-axis: 36 m/min Rapid traverse Y-axis: 36 m/min Rapid traverse Z-axis: 36 m/min Table size: 2,000 x 760 mm Table load capacity: 1,400 kg Distance from table surface to spindle nose: 160 mm - 840 mm Including magnetic table Spindle speed: 12,000 rpm Main drive power (5 min rating): 18.5 kW Main drive power (30 min rating): 11 kW Tool changer: Number of stations: 30 Spindle taper: SK 40 Max. tool diameter: 80 mm Max. tool diameter with adjacent stations empty: 110 mm Max. tool length: 350 mm Max. tool weight: 8 kg Djdoyfmz Depfx Afnekh Control: Mazatrol 640M Interfaces: RS232, LAN, floppy disk drive Dimensions & Weight: Dimensions (L x W x H): 4,435 x 3,300 x 3,442 mm Machine weight: 12,000 kg Included: Various tools + Renishaw probe Documentation/manual Chip conveyor Partition for pendulum machining Electronic handwheel EIA / ISO programming Synchronous tapping Through-spindle coolant 5 bar A complete, very good machine, immediately available!

Condition: used, Year of construction: 2002, Used machining center from Victor Type: V Center 125 X-axis: 1250 mm Dodpfeyfmu Djx Afnokh Y-axis: 500 mm Z-axis: 600 mm SK 50 taper Table dimensions: 1400 x 550 mm 6000 RPM Coolant through spindle: 15 bar Spindle power: 18.5 kW Tool changer: 32 stations Year of construction: 2002 Transport dimensions: height: 265 cm / depth: 235 cm / length: 450 cm

Condition: used, Year of construction: 2002, functionality: fully functional, Equipment: chip conveyor, documentation/manual, rotational speed infinitely variable, For sale Dkjdpfx Aeyc Tzlefnoh DECKEL MAHO DMU 100 T machining centre – 5 continuous axes: Description: CNC vertical machining centre with 5 simultaneous axes, designed for complex precision parts machining (mould making, aerospace, automotive, etc.). Technical specifications: - Model: Deckel Maho DMU 100 T - CNC control: Heidenhain iTNC 530 - Axes: X / Y / Z + B rotation + A rotation (simultaneous 5-axis machining) Axis travels: - X-axis: approx. 1050–1150 mm - Y-axis: approx. 710–750 mm - Z-axis: approx. 710 mm Spindle and tooling: - Spindle speed: Up to 18,000 rpm - Spindle power: approx. 28 kW - Tool mounting: SK 40 - Tool magazine: 32 positions Table and capacity: - Type: Integrated NC rotary table - Dimensions: approx. 800 x 800 mm - Max load: 500–800 kg Dimensions and weight: - Machine weight: approx. 9,500–10,000 kg - Dimensions: approx. 3500 x 2500 x 3000 mm (L x W x H) I remain at your disposal for any further information.

Condition: used, Year of construction: 2011, functionality: fully functional, Equipment: chip conveyor, documentation/manual, rotational speed infinitely variable, FOR SALE Victor VCenter 102E Machining Center – 2011 General description: Brand: Victor Model: VCenter 102E Year: 2011 Type: Vertical Machining Center / CNC Control: FANUC Oi-Mate MD Technical specifications: X-axis travel: 1020 mm Y-axis travel: 510 mm Z-axis travel: 510 mm Table size: 1200 × 510 mm Table load capacity: approx. 800–1000 kg (to be confirmed depending on version) Spindle type: 8000 to 10000 rpm (depending on configuration) Tool magazine: 20 to 24 positions (depending on version) Equipment and features: CNC FANUC Oi-Mate MD – user-friendly interface for programming and automatic machining cycles Integrated lubrication and cooling system Chip extraction and filtration system Rigid cast iron structure for high precision Option to add probes or measuring devices Dodpfx Afsyc Sxcsnekh Dimensions and weight: Machine dimensions: approx. 3.0 × 2.2 × 2.5 m (L × W × H) Weight: approx. 4500–5000 kg

Condition: excellent (used), Year of construction: 2008, functionality: fully functional, HAAS EC 400 HORIZONTAL MACHINING CENTER 4 AXIS OMEGA DESIGN SOLUTIONS UK Use 15 Haas machines to manufacture high precision components for the Aerospace and race car markets. We use Haas machines from VF1 to the mighty UMC750SS. Dkodjx Urc Tepfx Afnjh We have used Haas machines for 15 year and feel they are the best in the market. This EC400, twin pallet horizontal machine The tooling is bt40 , there are tools included in the sale. We can demonstrate the machine or set it up to make your parts if required. 2008 machine ready for work Terms and conditions apply

Condition: used, Year of construction: 2019, x-travel 2.000 mm y-travel 820 mm z-travel 720 mm Control Mazatrol Smooth G spindle taper SK 40 spindle turning speed range 35 - 12.000 U/min spindle motor 22 kW distance spindle centre table top edge 140 - 860 mm table load 1700 Kg rapid travel x/y/z 50 m/min table width 820 mm table length 2500 mm table height over floor 870 mm T-slots 7 T-slot - width 18 mm T-slot - distance 100 mm tool change unit 48 tool changing time 4,7 sec wotkpiece diameter with 2 vacant positions 130 mm workpiece diameter at full load 80 mm max. tool weight 8 kg tool length - max. 350 mm air pressure - required 5 - 9 bar Air volume 260 l/min electrics - voltage/frequency 400 / 50 V/Hz coolant tank 450 l high-performance coolant system 25 bar total power requirement 46,7 kW weight of the machine ca. 14,8 t dimensions of the machine ca. 4,3 x 3,6 x 3,1 m STANDARD ACCESSORIES Transformer for the European market USB port (1 port) Mazak standard colour Spindle speed 12,000 min-1 (steep taper 40) Work area lighting SAFETY DEVICES Operator door with locking switch Work area panelling The splash guard encloses the working area from the side. Fully enclosed work area Protection against chips, coolant and access to the work area during automatic machining. Safety precautions in accordance with global standards COOLANT SUPPLY Coolant supply through spindle (pressure at the pump = 5 bar) Complete coolant system includes pumps, valves, pipework and nozzles for the efficient production of quality components. FACTORY AUTOMATION Automatic switch on/off and warm-up function Automatic switch-on of a warm-up cycle via digital timer MEASUREMENT SYSTEM Tool length measurement and tool breakage detection CHIP DISPOSAL Factory preparation for chip conveyor (left) NUMERICAL CONTROL Fixed control/operating unit Relocation Detector Mazatrol SmoothG control unit 19" LCD colour screen (touch screen) Mazak tapping/drilling cycle Tornado (Mazatrol) By drilling and tapping in helical machining mode, a wide range of diameters a wide range of diameters can be machined at high speed with a wide range of diameters can be machined at high speed with just one tool. This function minimises programming and machining times. EIA/ISO input function Tool path check in the background The tool path of a programme can be checked even if another programme number is programme number is called up and processed in automatic mode. 3D coordinate conversion Shape compensation for rotating axes Mazacc 2D software (contour correction) Accuracy is maintained at high feed rates. Mazacc-3D software package for high-speed machining High-speed and high-accuracy machining for contours defined in the finest programme contours defined in the finest programme increments. MAZACC-3D high-speed software package (NO456) is additionally required. Control with high smoothing Interface for LAN SD Memory Card I/F Smooth standard software for M/C - NO443 B) MAZACC-2D software (workpiece shape compensation) - NO444 D) MAZACC-3D high-speed software package - NO445 B) Shape compensation for rotating axes - NO497 D) High accuracy control for finishing operations - Seamless corner point control - Variable acceleration control Dedpfx Astuggcofnjkh - Ultra high speed machining mode - NO498 Rapid traverse paths Rounding function Absolute positioning system Machine incl. the f...

Condition: good (used), Year of construction: 2004, Model: COMET ISOLA ES381 V06 Year: 2004 Dedpfxow Rfy No Afnskh Control: ISAC ‘X’ axis Stroke: 7280mm ‘Y’ axis Stroke: 525mm ‘Z’ axis Stroke: 380mm Spindle Taper: ISO 40 Spindle Speeds: 24,000 RPM

Condition: excellent (used), Year of construction: 2018, Hartford LG-500 Vertical Machining Centre Djdpfjwif R Tox Afnokh Year: 2018 (only 400 working hours) Model: LG-500 Control: Hartford Plus 3 Table Size: 620 x 420mm Table Load: 300 kgs Axis Travels X/Y/Z: 620 / 420 / 450mm Spindle Nose to table: 100 – 550mm Spindle Taper: 40 INT Spindle Speeds: 12,000 RPM 12 station ATC Machine as new

Condition: used, machine/vehicle number: 008272, Position 1: 5 Axis CNC Routers BIESSE + KUKA-ROVER A + KR210 R3100 Dedpfox A Tfvox Afnokh Position 2: Robot BIESSE + KUKA-ROVER A + KR210 R3100

Condition: used, Year of construction: 2008, number of spindle speeds 10.000 U/min numbers of positions in the tool changer 60 tool taper SK50 control HEIDENHAIN - iTNC 530 5-axis simultaneous machining center | DMG - DMU 80P duoBlock equipped with NC rotary table and swivel head (B-axis), 60-way tool changer, double gripper, ITC (40 bar) and chip conveyor. Djdeygm T Nspfx Afnskh Additional equipment: - Tool measurement The machine is in a well-maintained condition and can be inspected at any time under power. - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - #Tags: DMU80PduoBlock | DMU80 P duoBlock | 80P

Condition: used, Year of construction: 2008, travel -x axis 500 mm travel -y axis 450 mm travel -z axis 400 mm c-axis 360 ° B-axis (table) 108 ° surface area d: 500 x380 mm control HEIDENHAIN - iTNC530 number of spindle speeds 18.000 U/min numbers of positions in the tool changer 60 tool taper HSK 63 5-axis simultaneous machining center | DMG - DMU 50 eVo linear equipped with NC swivel rotary table, 60-way tool changer, double gripper, ITC (40 bar) and chip conveyor. Dsdpfx Afsygm T Ajnskh Additional equipment: - Touch probe (hardware and software) - Laser tool measurement - Belt-type filtration system - Extraction system - 3D QuickSet (hardware and software) - Direct measuring systems on all axes The machine is in a well-maintained condition and can be inspected at any time under power. The machine video from the production plant will be shared on request. For additional equipment information please refer to the original order confirmation which is included in the offer of this machine. - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - #Tags: DMU50Evo | DMU50 Evo | 50Evo

Condition: excellent (used), 5-Axis Machining Center with swivel milling head, pallet station, tool calibration, thermal compensation, work area extraction system, and much more. Year of manufacture: 2016 Spindle hours approx. 1,500 h (after spindle replacement at the beginning of 2025) Control System: - Heidenhain iTNC 530 HSCI - Heidenhain DCM Collision Monitoring - Heidenhain HR 410 electronic handwheel - Swiveling console with 19" monitor - Teleservice via LAN/WLAN Travel Range: - Travel X 1,000 mm, Y 1,100 mm, Z 810 mm - NC rotary table D 1,000 x 800 mm, swing diameter 1,350 mm Milling Head: - Automatic horizontal/vertical swivel milling head - Fully-fledged stepless NC axis from -1° to +90° - Blowing air through the spindle - External coolant supply via nozzle ring Drive power: 38 kW (100% duty cycle) Speed: 16,000 rpm Torque: 135 Nm at 40% duty cycle Spindle interface: HSK 63-A Media Supply: - Internal coolant feed: 50 bar - capacity 28 l/min - Paper belt filter with additional fine filter - Individual tool pressure regulation during program operation Tool Changer: - Rack magazine with 73 stations (expandable with additional racks) - Swiveling dialog operation panel - Drawer for loading and unloading tools from tool racks Tool Measurement: - 3D wireless touch probe m&h 20.00-Multi, software adapted for HSK 63-A - Including Kinematics-Opt, compatible with iTNC control, and calibration sphere on magnetic stand Pallet Changer: - Double palletizing unit, pallet diameter 1,000 x 800 mm, hole grid 100mm x 100mm, hardened drill bushes D 16mm - Rotary table unit including zero-point clamping system, loading station accessible by crane - Pallet changer unit protected with enclosure Special Equipment: - Micro-Epsilon sensor - For detection and dynamic compensation of thermal spindle growth Chip Conveyor: - Scraper belt conveyor along machine bed - Chip ejection height 1,100 mm Machine Enclosure: - Full-area protective enclosure with large angle door for crane loading and a quick-access door - Easy removal of swarf from the workspace Extraction System: - Oil and emulsion mist extraction, mechanical air filter, extraction capacity 1,800 m³/h Rotating View Window: - Viewing window integrated into the cabin door for workspace observation Camera in Work Area: - Monitor and keyboard at the operator console—allows monitoring of rear-side machining operations Dkodpfx Afoxhg Diensh Machine Data: - Space requirement (without service area): approx. LxWxH 4,791 mm x 4,100 mm x 4,791 mm (including extraction system) - Machine weight approx. 19,700 kg - Total weight with all equipment plus maximum workpiece load, full tool magazine, and all operating materials: approx. 27,730 kg - Connected load: 50 kVA, 400V, 50/60 Hz This machining center, featuring an exceptionally good and practical configuration, is in very good condition. It operates with the renowned "Swiss precision." There is no service or repair backlog—in fact, the opposite. With an almost new milling spindle, the REIDEN RX 10 5X is well positioned for long-term use. Technical modifications and errors excepted.

Condition: not inspected (used), Year of construction: 2005, travel distance X-axis: 750 mm, travel distance Y-axis: 410 mm, travel distance Z-axis: 500 mm, rotational speed (max.): 10,000 rpm, overall weight: 4,200 kg, table 900x350 mm travels 750x410x500 mm Dkjdpfox Irxzsx Afnjh spindle ISO 40 max speed 10,000 rpm weight 4,200 kg

Condition: good (used), Year of construction: 2007, functionality: fully functional, machine/vehicle number: NVLA7K0128, travel distance X-axis: 480 mm, travel distance Y-axis: 400 mm, travel distance Z-axis: 330 mm, controller manufacturer: Fanuc, controller model: 0i-MC, total length: 1,575 mm, total width: 2,168 mm, table width: 400 mm, table length: 600 mm, overall weight: 3,000 kg, spindle speed (max.): 10,000 rpm, spindle motor power: 7,500 W, spindle nose: BT40, number of spindles: 1, number of slots in tool magazine: 16, Equipment: rotational speed infinitely variable, BRIDGEPORT HARDINGE GX480 Vertical Machining Centre. New 2007 With Coolant, Interlocked guards, Low Volt Light FANUC 0i-MC Control Machine Dimensions: 1575 x 2168 mm Machine Weight 3000 kg Spindle Motor Power 7.5 kW Spindle Speed 10000 rpm Table Size 600 x 400 mm Tool Change Capacity 16 Station Tool Size BT40 Traverses XYZ 480 x 400 x 330 mm Dkedpfxsxgqwdj Afnoh

Condition: new, Year of construction: 2025, functionality: fully functional, Simply Center Punch – The Center Marking Aid! A revolution in precision: We present the “Simply Center Punch” The world's only center marking device – an exclusive innovation from Northern Germany. The Problem No more inaccurate center marking of round parts - Are you familiar with the challenges of precisely center punching shafts or rods ranging from 15 mm up to 400 mm? - Inaccurate positioning. - Poor lighting conditions - No glasses for older users - Time-consuming manual alignment - Inefficient and error-prone processes - The market does not offer a universal and reliable solution for varying diameters. Dedpfx Afexb Ucasnjkh Our Solution: Simply Center Punch – A World First! Simply Center Punch: Precision made simple. - Globally unique: A center punch device / center marking aid developed and utility model protected by us, setting new industry standards. - 100% in-house development: From the first concept to the finished product – all from a single source. - Manufactured in-house: We guarantee quality "Made in Germany." - Versatile use: For diameters from 15 mm to 400 mm. - Center marking at the push of a button: Simply position, turn the handle, and mark the center. Your Advantages at a Glance Your benefits. - Maximum precision: Centers drill holes and markings with accuracy up to 0.3 mm. - Saves time and money: Speeds up your workflow and reduces rework. - Effortless handling: Intuitive operation requiring no prior experience. – Weight just 780 g. - Universally applicable: One tool for nearly all diameters in mechanical engineering, metalworking, etc. - Robust and durable: Made from high-quality materials for professional, continuous use.

Condition: good (used), Year of construction: 2009, functionality: fully functional, Technical details x-travel 1100 mm y-travel 600 mm z-travel 510 mm total power requirement 30 kW weight of the machine ca. 8,5 t dimensions of the machine ca. 4400 x 2250 x 2920 mm Additional information Working area: X-axis travel: 1100 mm Y-axis travel: 600 mm Z-axis travel: 510 mm Rapid traverse: 32 m/min Worktable: 1300 x 600 mm T-slots: 6, size 18, 100 mm spacing Max. table load: 1000 kg Distance from column to spindle center: 600 mm Spindle: 60 - 12000 rpm Drive power: 10/17 kW Spindle taper: ISO 40 / DIN 69871A Magazine: 32 positions Max. tool weight 8 kg Max. tool length 300 mm Max. tool diameter 76/127 mm Tool change time 2.5 sec Space requirements: Length x Width x Height 4400 x 2250 x 2920 mm Weight 8500 kg Equipment and accessories: Heidehain iTNC 530 CNC control Internal coolant system (IKZ): 20 bar Coolant tank: 480 l Chip conveyor Dedpfjyf E Ddex Afnekh Heidenhain glass scales in X/Y/Z

Condition: good (used), Year of construction: 2007, functionality: fully functional, Technical details x-travel 1200 mm y-travel 600 mm z-travel 600 mm Control Heidenhain iTNC 530 spindle speed: 6000 1/min. Dkjdpfxoyf Ez Aj Afnjh spindle taper 50 SK spindle drive (S1) 10 kW table surface area 1300 x 600 mm table load 1200 kg feed speeds 1-10000 mm/min rapid travel x/y/z 20/20/15 m/min distance table - lower edge spindle 125-725 mm total power requirement 25 kVA weight of the machine ca. 7,5 t dimensions of machine 3600 x 2300 x 3000 mm Additional information Equipped with: * CNC control Heidenhain iTNC 530 * Electr. portable handwheel * Spindle oil cooler * Tool changer 24-pos., double arm changer - Max. tool diameter 80/150 mm - Max. tool length 250 mm - Max. tool weight 8 kg * Preparation for hydraulic machine vice * Preparation for 3-D measuring probes * Chip conveyor * Coolant system, coolant through spindle 20 bar * Machine documentation Working hours (date 1st. November 2024): - Control on: 60.818 h - Machine on: 59.598 h - Program cycle: 22.283 h - Spindel on: 19.522 h

Condition: good (used), Year of construction: 2002, functionality: fully functional, Technical details x-travel 2800 mm y-travel 2200 mm z-travel 800 mm Control Heidenhain iTNC 530 table surface area 3000 x 1200 mm tool taper HSK-A-63 spindle turning speed range 12000 U/min power capacity 18 kW feed range 35000 mm/min total power requirement 68,7 kW dimensions of the machine ca. 12,4 x 3,5 x 4,6 m Dkodjyf A Nkopfx Afnoh Additional information The FPT DINO is a 5-axis portal milling machine designed for the precise machining of large components. With a cross travel of 2200 mm and a high-speed spindle with 12,000 rpm, this machine combines high machining volume with outstanding dynamics in finishing. Heidenhain iTNC 530 CNC path control Number of controlled axes (simultaneously): X/Y/Z/C/B Travels: X-axis (longitudinal travel) 2800 mm Y-axis (cross travel) 2200 mm Z-axis (vertical travel) 800 mm Machine length: 12,434 mm Machine width: 3,597 mm Machine height: 4,622 mm Coolant equipment (no coolant through spindle) Chip conveyor

Condition: used, Year of construction: 2017, x-travel 1016 mm y-travel 660 mm z-travel 635 mm Dksdpfx Afsyhrbnjnoh

Condition: new, The LabCenter 260 CNC is a robust and compact Vertical Machining Center designed specifically for CNC training and the production of small workpieces. This innovative machine offers the full functionality of larger production machines while being mobile and professional, making it ideal for laboratories and training environments. Equipped with the SIEMENS 808D Advance control, the LabCenter facilitates an intuitive introduction to CNC applications. It boasts a continuously variable main spindle speed of up to 5000 revolutions per minute and features precisely machined cast iron frames, durable dovetail guides, and preloaded ball screws with servo drives on all axes. With a maximum travel of 160 mm on the X-axis and a table size of 400x145 mm, this C-Frame Vertical CNC Center enhances productivity with its efficient 4-station tool changer and mobile base, which allows for convenient tool and material storage. Ensure seamless operation with the included electronic hand-wheel, central lubrication, and comprehensive operating manual. KNUTH guarantees quality and precision in all aspects. To experience the benefits of this Vertical Machining Center, order online today. Djdpfx Aeuy Ihhjfnekh

Condition: used, Year of construction: 2022, x-travel 1350 mm y-travel 950 mm z-travel 600 mm Control MAX 5 total power requirement 35 kW weight of the machine ca. 14 t Djdjxfwg Njpfx Afnjkh dimensions of the machine ca. 3100x4535x3495 m

Condition: used, Year of construction: 2015, x-travel 635 mm y-travel 510 mm z-travel 460 mm Control DMG Dkodpfjwm Rtbjx Afneh

Condition: excellent (used), Year of construction: 1997, Rover 20 machining center Working area 2,893 x 950 mm, milling spindle with ISO30 tool holder 3.6 kW, drilling unit with 10 vertical and 6 horizontal drills as well as grooving saw, 6-fold tool changer. The NC410 control had a floppy disk drive and a colour screen as well as the simplest, graphically supported programming options. Furthermore, the Rover 20 already enabled pendulum machining. Dimensions: approx. 3800 x 2000, height 1600 Dksdpfx Aslc Dwnofneh Control cabinet: 950 x 700 x 1300 From location

Condition: excellent (used), Year of construction: 2015, Machine type: 5-Axis Machining Centre (Simultaneous) Year of manufacture: 2015 Control: HAAS CNC control to DIN 66025 X-axis travel: 762 mm Y-axis travel: 508 mm Z-axis travel: 508 mm Max. spindle speed: 15,000 rpm Spindle motor power: 22.4 kW (vector drive) Spindle taper: SK 40 (DIN 69871) Max. torque: 122 Nm (at 2,000 rpm) Table dimensions: ∅ 630 x 500 mm Max. workpiece weight: 300 kg Number of simultaneously controlled axes: 5 C-axis rotation range: 360° continuous B-axis swivel range: -35° / +110° Rapid traverse rates (X, Y, Z): 30.5 m/min Tool magazine (positions): 40+1 (side-mounted) Coolant system capacity: 284 litres Machine weight: approx. 8.2 t Cooling systems: - Through-Spindle Coolant (TSC), 21 bar - Programmable coolant nozzle (P-COOL) Dsdpfxoyhpfdj Afnekh - Additional coolant filtration system (25 μm) - Hand rinsing gun with coolant Measuring and probing systems: - RENISHAW probing system (WIPS-R) - Work probe - Tool measurement system Chip management: - Hinged belt chip conveyor Software & Control: - High-Speed Machining (HSM) - Ethernet interface - Macros - Coordinate rotation and scaling