KIN_TYP_1

The kinematic structure of this machine consists of two translatory axes and one rotary axis in the workpiece, and one translatory axis and one rotary axis in the tool.

Axis configuration in NC channel

Axis designation

X,Y, Z, B, C

Axis index

0, 1, 2, 3, 4

Kinematic structure

 

Tool axes

Workpiece axes

NC axes

Z, B

X, Y, C

KIN_TYP_1 1:
Figure 2-1: Kinematic structure of the single-column bed machine

Here, you need the geometry constants HD1 and HD2. Figure 2-2 shows the correlation.

The rotation of the workpiece table rotates the workpiece coordinate system, but not the machine coordinate system.

KIN_TYP_1 2:
Figure 2-2: The four variables L, TX, HD1 and HD2 of the swivel head
KIN_TYP_1 3:
Figure 2-2: Offsets on workpiece holder

Offset data of the kinematic structure:

HD offset

param[i]

Description

HD1

0

Z offset tool holding device to rotation point B axis

HD2

1

Z offset rotation point B-axis to reference point tool slide

HD3

2

X offset reference point tool slide to rotation point B axis

HD4

3

Y offset reference point tool slide to rotation point B axis

HD5

4

X offset rotation point B axis to tool holding device

HD6

5

Y offset rotation point B axis to tool holding device

HD7

6

X offset machine origin MNP to rotary axis C

HD8

7

Y offset machine origin MNP to rotary axis C

HD9

8

Z offset machine origin MNP to rotary axis C

HD13

12

Rotation direction B axis (*), 0: negative, 1positive

HD14

13

Rotation direction C axis, 0 positive, 1 negative

(*) The rotation direction of the B axis is mathematically negative.