KIN_TYP_59

The kinematic structure of this machine consists of three translatory and two rotary axes in tool.The A axis is rotated arround the Y-axis with an angle != 90 degrees,. typical 30 up to 60 degrees.

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

-

KIN_TYP_59 1:
Figure 2-55: Cardan kinematic with CA- head
KIN_TYP_59 2:
Figure 2-56: Offsets of cardanic CA-head kinematic

Offset data of kinematic:

HD-Offset

param[i]

Description

HD1

0

Z- Offset to tool fixpoint

HD2

1

X- Offset to tool fixpoint

HD3

2

Y- Offset to tool fixpoint

HD4

3

X- Offset from compensation point (SP) to A-axis

HD5

4

Y- Offset from compensation point (SP) to A-axis

HD6

5

Z- Offset from compensation point (SP) to A-axis

HD7

6

Angle between A-axis and Z-axis

HD8

7

X- Offset A-axis to C-axis

HD9

8

Y- Offset A-axis to C-axis

HD10

9

Z- Offset A-axis to C-axis

HD11

10

X- Offset from C-axis to machine point M

HD12

11

Y- Offset from C-axis to machine point M

HD13

12

Z- Offset from C-axis to machine point M

HD14

13

Rotary offset C-axis

HD15

14

Rotary Offset A-axis

 

 

 

HD21

20

Control flag: 0: Transformation of rotary axes C and A , default.

1: No transformation of rotary axes, C and A are machine angles.

In general the reference point named ARP is located in reference point named SP, this means the vector V3 is 0 and the reference point SP is located in tool axis which has the same rotation axis than the C-axis. In this case only the parameters L, HD1, HD7 and HD10 are necessary.

KIN_TYP_59 3:
Figure 2-57: Cardan head with ideal head geometry (intersection of C and A axis is in tool axis)
KIN_TYP_59 4:
Figure 2- 58 : Cardan head with offset in head geometry (no intersection of C axis and tool axis)