KIN_TYP_61

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

Axis configuration in NC channel

Axis designation

X, Y, Z, A, B

Axis index

0, 1, 2, 3, 4

Kinematic structure

 

Tool axes

Workpiece axes

NC axes

Y, Z, B

X, A

KIN_TYP_61 1:
Figure 2-62: Axis configuration of machine
KIN_TYP_61 2:

Figure 2-63: Offsets of tool head

KIN_TYP_61 3:
Figure 2-64: Offsets of workpiece holder
KIN_TYP_61 4:
Figure 2-65: Ideal and real z- zero position

In ideal case there exists one intersection point of the rotary axis A in workpiece and the rotary axis B in tool in zero position of kinematic structure. In this case the machine axis positions of tool slider are zero. This position normally cannot be reached with an real machine structure. The necessary offset to zero position of tool slider to this position can be set with parameters HD7, HD8, HD9.

Offset data of kinematic:

HD-Offset

param[i]

Description

HD1

0

Z-offset tool rotation point B-axis to tool holder fix point

HD2

1

X- offset tool rotation point B-axis to tool holder fix point

HD3

2

Y- offset tool rotation point B-axis to tool holder fix point

HD4

3

X-offset rotation point B-axis to tool slide reference point

HD5

4

Y-offset rotation point B-axis to tool slide reference point

HD6

5

Z-offset rotation point B-axis to tool slide reference point

HD7

6

X-offset to machine-zero point

HD8

7

Y-offset to machine-zero point

HD9

8

Z-offset to machine-zero point

HD10

9

X-offset A-axis to zero point WCS

HD11

10

Y-offset A-axis to zero point WCS

HD12

11

Z-offset A-axis to zero point WCS

HD13

12

Rotary Offset A-axis

HD14

13

Rotary Offset B-axis

HD15

14

Rotation direction flag A-axis

HD16

15

Rotation direction flag B-axis