KIN_TYP_3, KIN_TYP_4

The kinematic structure of the machine consists of three translatory axes and one rotary axis in the tool (double spindle head).

Axis configuration in NC channel

Axis designation

X, Y, Z, B

Axis index

0, 1, 2, 3

Kinematic structure

 

Tool axes

Workpiece axes

NC axes

X, Y, Z, B

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KIN_TYP_3, KIN_TYP_4 1:
Figure 2-3: Kinematic structure of the 4-axis milling machine with double spindle head
KIN_TYP_3, KIN_TYP_4 2:
Figure 2-4: Side view and front view of the double spindle head

Figure 2-4 shows the structure of the milling head for the zero position of the B axis. It features two spindles (referred to in this document as top and bottom spindle, irrespective of the current position of the B axis) so that two tools may be clamped that are rotated by 180° against each other.

The selection of the currently active spindle and/or tool should be possible through a command in the NC program.

If the top spindle is active, the programmed value for the B axis must be modified as follows:

KIN_TYP_3, KIN_TYP_4 3:

Thus, changing spindles means rotating the B axis through an angle of 180° and, caused by the geometry constants with active RTCP, translating all three linear axes.

Offset data of the kinematic structure:

HD offset

param[i]

Description

HD1

0

X Axis offset from tool holding device to rotation point of C Axis

HD2

1

Y Offset from rotation point of C axis to reference point for tool 1 and 2

HD3

2

X Offset from rotation point of C axis to reference point for tool 3 and 4

HD4

3

Z axis offset of tool holding device

HD5

4

Rotation offset of C axis

HD7

6

Static tool offset in X

HD8

7

Static tool offset in Y