KIN_TYP_28

The kinematic structure consists of three translatory NC axes and two rotary NC axes in the tool.The physical angle positions of tool head C, A are realized with two gear linked axes.

Axis configuration in NC channel

Axis designation

X, Y, Z, C (C1), A(C2)

Axis index

0, 1, 2, 3, 4

Kinematic structure

 

Tool axes

Workpiece axes

NC axes

X, Y, Z, C (C1), A (C2)

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KIN_TYP_28 1:
Figure 2-33: Five-axis kinematic structure (boring and milling set)
KIN_TYP_28 2:
Figure 2-34: Tool head (home position with HD3 = 0, A=0, HD4 = 0, C=0)

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 rotation point of A axis to tool reference point

HD3

2

Rotation offset of A axis

HD4

3

Rotation offset of C axis

HD5

4

Y axis offset of rotation point C axis

HD6

5

X axis offset of rotation point C axis

HD7

6

Static tool offset in X

HD8

7

Static tool offset in Y

HD9

8

Y offset milling tool axis to rotation point of A-axis

HD10

9

n. u.

HD11

10

Zero point offse of CA gear link

HD12

11

Gear link factor numerator

HD13

12

Gear link factor denominator

HD14

13

sign rotary axis C

HD15

14

Sign rotary axis A

The gear link between C and A axis is absolute and is done as shown in the following equations:

KIN_TYP_28 3:

The rotary axes of the tool head has to be adjusted as linear axis or rotary axis with sufficient large modulo range. The soft limit monitoring in channel is working on output position of transformation (drive position) depending on limits in machine data parameters.