KIN_TYP_6

The kinematic structure consists of three translatory axes and one rotary axis in the tool. As a peculiarity, the tool of this kinematic structure points in the positive Z direction.

Axis configuration in NC channel

Axis designation

X, Y, Z, C

Axis index

0, 1, 2, 3

Kinematic structure

 

Tool axes

Workpiece axes

NC axes

X, Y, Z, C

-

KIN_TYP_6 1:
Figure 2-5: Four-axis kinematic structure with underfloor milling tool
KIN_TYP_6 2:
Figure 2-6: Tool head for underfloor milling (home position with HD4 = 0)

The axes are arranged in the sense of a right-handed system. The home position of the C axis is in the positive direction of the Y axis.

The automatic orientation setting of the 4-axis tool head with manually adjustable A axis depends on the position of the A axis. If the physical machine axis position and the value in the HD parameter of the A axis do not agree, correct automatic alignment is not possible.

Offset data of the kinematic structure:

HD offset

param[i]

Description

HD1

0

Z Axis offset from tool holding device to rotation point of A axis (auxiliary)

HD2

1

Z axis offset of tool holding device to rotation point of C axis

HD3

2

Fixed angle for manual auxiliary A axis

HD4

3

Rotation offset of C axis

HD5

4

Y offset rotation axis A to rotation axis C

HD6

5

X offset from to tool reference point rotation to rotation point of C axis

HD7

6

Static tool offset in X

HD8

7

Static tool offset in Y