KIN_TYP_70

The kinematic structure of this machine consists of three translatory and two rotary axes in tool. This kinematic supports non parallel parallel fixed tool rotation axis B-A to workpiece axes. A virtual axis CV can be used for modification of tool orientation.

Axis configuration in NC channel

Axis designation

X, Y, Z, B, A, CV

Axis index

0, 1, 2, 3, 4, 5

Kinematic structure

 

Tool axes

Workpiece axes

NC axes

X, Y, Z, B, A, CV

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KIN_TYP_70 1:
Figure 2-70: Axis configuration of machine
KIN_TYP_70 2:
Figure 2-71: Offsets of tool head

Offset data of kinematic:

HD-Offset

param[i]

Description

HD1

0

Z- Offset to tool fixpoint

HD2

1

X - Offset

HD3

2

Y - Offset

HD4

3

Z - Offset

HD5

4

X- Offset to tool fixpoint

HD6

5

Y- Offset to tool fixpoint

HD7

6

Rotary offset A axis

HD8

7

Rotary offset B axis

HD9

8

Rotation sign A axis

HD10

9

Rotation sign B axis

HD14

13

Rotary offset of tool head around Z axis (head position)

KIN_TYP_70 3:
Figure 2-72: Rotation angle Offset of tool head

The CV axis is not a physical real existing axis of the kinematic structure. This axis rotates the tool orientation vector around z, this means the angles A and B are calculated depending on the angle of CV.One application can be the perpendicular aligning of one component of tool direction vector depending to programmed contour.For it a simulation axis has to be configured and can be used as usual in NC program.

The permissible ange range of A and B axes is +- 90 degrees.