KIN_TYP_28 – 5-axis kinematics

Kinematic structure

The kinematic structure consists of 3 translatory NC axes and 2 rotary NC axes in the tool. The physical angle position of the head C, A is adjusted by 2 gear-linked axes.

Axis configuration in the NC channel
Axis identifier	X, Y, Z, C, A ( X, Y, Z, C1, C2)
Axis index	0, 1, 2, 3, 4
Kinematic structure
	Tool axes	Workpiece axes
NC axes	X, Y, Z, C(C1), A(C2)	-

KIN_TYP_28 – 5-axis kinematics 1: — 5-axis kinematics

KIN_TYP_28 – 5-axis kinematics 2: — Tool head (zero position where HD3 = 0, A=0, HD4=0, C=0)

Offset data of kinematics

HD offset	param[i]	Description	Unit
HD1	0	Z axis offset from tool holding device to rotation point A axis (swivel axis)	1.0 E-4 mm
HD2	1	Z axis offset rotary axis A to tool head reference point	1.0 E-4 mm
HD3	2	Rotary angular offset A axis (default 0)
HD4	3	Rotary angular offset C axis (default 0)
HD5	4	Y axis offset rotation point C axis	1.0 E-4 mm
HD6	5	X axis offset rotation point C axis	1.0 E-4 mm
HD7	6	Static head offset in X (default 0)	1.0 E-4 mm
HD8	7	Static head offset in Y (default 0)	1.0 E-4 mm
HD9	8	Y axis offset milling tool axis to rotation point A axis	1.0 E-4 mm
HD10	9	n.a.	[ - ]
HD11	10	Origin offset CA gear link	1.0 E-4°
HD12	11	Gear link factor numerator	[ - ]
HD13	12	Gear link factor denominator	[ - ]
HD14	13	Sign rotary axis C	[ - ]
HD15	14	Sign rotary axis A	[ - ]
HD16	15	A factor numerator	[ - ]
HD17	16	A factor denominator	[ - ]

The gear link between C and A is absolute and is executed as shown in the following equations:

CM = CW

AM = AW*k_a + NP0 + k_ca*CW

where

KIN_TYP_28 – 5-axis kinematics 3: : C -> A gear link factor

KIN_TYP_28 – 5-axis kinematics 4: : A resolution factor

NP0 = HD11 : Origin offset gear link

The head rotary axes must be adjusted either as linear axes or as rotary axes with a sufficiently large modulo range. The SLS monitor in the channel acts on the drive positions depending on the limits in set in the MDS.