KIN_TYP_33

The kinematic structure of this machine consists of three translatory and two rotary axes in tool.As a special feature this kinematic structure needs no compensation movement of translatory axes because of mechanical construction.

Axis configuration in NC channel

Axis designation

X, Y, Z, C, A

Axis index

0, 1, 2, 3, 4

Kinematic structure

 

Tool axes

Workpiece axes

NC axes

X, Y, Z, C, A

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KIN_TYP_33 1:
Figure 2-37: 5 axes kinematics with inclined tool head axis
KIN_TYP_33 2:
Figure 2-38: Inclined tool head axis in zero position, HD7=0
KIN_TYP_33 3:
Figure 2-39: Inclined tool head axis with 180 degree offset, HD7=1
KIN_TYP_33 4:
Figure 2-40: Static offsets in X, Y plane

Offset data of kinematic structure:

HD offset

param[i]

Description

HD3

i = 2

angle of inclined head axis

HD4

i = 3

static X axis offset

HD5

i = 4

static Y axis offset

HD6

i = 5

static Z axis offset

HD7

i = 6

C-axis compensation sign, necessary if rotator axis has 180 degrees C-axis offset in zero position (see Figure 2-39)