KIN_TYP_205 - Eccentric disc kinematics
Kinematic structure
The tool is attached to an eccentric disc that rotates about Z. The eccentric disc is also moved by 2 Cartesian axes in the X or Z direction.
HD parameters HD16 and HD17 to determine the axis about which the eccenter disc rotates with the tool.
The following combinations are permitted:
- HD16 = 0, HD17 = 1 : rotation about X
- HD16 = 1, HD17 = 0 : Rotation about Z
- HD16 = 0, HD17 = 0 : Discontinued status, still available for reasons of downward compatibility. No longer recommended.
Any other combination of parameters HD16 and HD17 is not permitted.
The tool position relative to the rotation centre can be configured in the following 2 methods.
Cartesian determination
| Polar determination
|
Configuring the two methods has an additive effect on the tool position.
The kinematics are programmed in XYZ coordinates.
Axis configuration in the NC channel | ||
Axis identifier | X, Y(C), Z | |
Axis index | 0, 1, 2 | |
Kinematic structure | ||
| Tool axes | Workpiece axes |
NC axes | X, Y(C), Z | - |
The axes can be sorted in the channel, e.g. with # SET AX [X, 1, 0] [Y, 2, 1] [Z, 3, 2].
HD offset | param[i] | Meaning | Unit |
HD1 | 0 | Tool length offset | 1.0 E-4 mm |
HD2 | 1 | polar: Tool distance from rotary axis C | 1.0 E-4 mm |
HD3 | 2 | polar: Tool zero position angle | 1.0 E-4 mm |
HD4 | 3 | Cartesian: X offset between tool and C axis | 1.0 E-4 mm |
HD5 | 4 | Cartesian: Y offset between tool and C axis | 1.0 E-4 mm |
HD6 | 5 | X offset from machine origin to zero position of X | 1.0 E-4 mm |
HD7 | 6 | Y offset from machine origin to zero position of X | 1.0 E-4 mm |
HD8 | 7 | Z offset from machine origin to zero position of X | 1.0 E-4 mm |
HD9 | 8 | X offset from machine origin to zero position of Z | 1.0 E-4 mm |
HD10 | 9 | Y offset from machine origin to zero position of Z | 1.0 E-4 mm |
HD11 | 10 | Z offset from machine origin to zero position of Z | 1.0 E-4 mm |
HD12 | 11 | Angle offset of C axis | 1.0 E-4° |
HD13 | 12 | Direction flag for C axis: >= 0: positive rotation direction | [ - ] |
HD14 | 13 | Direction flag for X axis (as of V3.1.3080.19 or v3.1.3107.53) >= 0 positive | [ - ] |
HD15 | 14 | Direction flag for Z axis (as of V3.1.3080.19 or v3.1.3107.53) >= 0 positive | [ - ] |
HD16 | 15 | Parameter to determine the axis about which the eccenter disc rotates with the tool. (as of V3.1.3080.19 or v3.1.3107.53). | [ - ] |
HD17 | 16 | Parameter to determine the axis about which the eccenter disc rotates with the tool. (as of V3.1.3080.19 or v3.1.3107.53). | [ - ] |