KIN_TYP_58

The kinematic structure of this machine consists of three translatory axes in tool and two rotary NC axis in workpiece.

Axis configuration in NC channel
Axis designation	X, Y, Z, A, C
Axis index	0, 1, 2, 3, 4
Kinematic structure
	Tool axes	Workpiece axes
NC axes	X, Y, Z	A, C

KIN_TYP_58 1: — Figure 2-52: Kinematic structure of 5 axes machine with AC workpiece table

KIN_TYP_58 3: — Figure 2-53: Tool offsets and offsets to the A axis

KIN_TYP_58 4: — Figure 2-54: X, Y offsets between A and C axis

Usually the machine origin is placed in the rotation axis A. If necessary, it can be shifted by the parameters HD7..HD9. Differing zero positions of the rotary axes A and C can be adjusted by the parameters HD10 and HD11 in a way, that the internal kinematic model matches to the real machine kinematic. In the same way also differing rotation directions of the A and C axes can be adjusted by the parameters HD12 and HD13. Then, in general in the axes parameters also the signs of commanded and actual values have to be adjusted correspondingly.

Offset data of kinematic:

HD-offset	param[i]	Description
HD1	0	Z tool offset from work holding point to reference point of tool slide SBP
HD2	1	X axis offset from work holding point to reference point of tool slide SBP
HD3	2	Y axis offset from work holding point to reference point of tool slide SBP
HD4	3	X axis offset from rotation axis A to rotation axis C, origin WCS
HD5	4	Y axis offset from rotation axis A to rotation axis C, origin WCS
HD6	5	Z axis offset from rotation axis A to rotation axis C, origin WCS
HD7	6	X offset from machine origin MNP to rotation axis A
HD8	7	Y offset from machine origin MNP to rotation axis A
HD9	8	Z offset from machine origin MNP to rotation axis A
HD10	9	Rotation offset A axis
HD11	10	Rotation offset C axis
HD12	11	Flag of rotation direction A axis
HD13	12	Flag of rotation direction C axis