KIN_TYP_76 – 5-axis kinematics with MTCP oblique tool head

Kinematic structure

The kinematic structure consists of 3 translatory and 3 rotary NC axes in the tool. The A and B axes are arranged about the Y axis at an angle!= 90 degrees. Due to the design structure the TCP is mechanically compensated (MTCP). As required, a tool length can also be set but this leads to compensation motions in the Cartesian axes.

Axis configuration in the NC channel

Axis identifier

X, Y, Z, C, A

Axis index

0, 1, 2, 3, 4

Kinematic structure

 

Tool axes

Workpiece axes

NC axes

X, Y, Z,A,B

-

KIN_TYP_76 – 5-axis kinematics with MTCP oblique tool head 1:
Axis configuration of 5-axis machine
KIN_TYP_76 – 5-axis kinematics with MTCP oblique tool head 2:
Tool head parameters

Offset data of kinematics:

HD offset

param[i]

Description

Unit

HD1

0

Z offset to tool holding device

1.0 E-4 mm

HD6

5

Angle offset between Cartesian MCS and cutting head CS

1.0 E-4°

HD7

6

Angle between A axis and Z axis

1.0 E-4°

HD8

7

X offset MTCP to machine origin

1.0 E-4 mm

HD9

8

Y offset MTCP to machine origin

1.0 E-4 mm

HD10

9

Z offset MTCP to machine origin

1.0 E-4 mm

Tool orientation is programmed using rotation angles C and A with a rotation sequence in the listed sequence. With HD6 = 65 degrees the maximum angle position is in range of +-60 degrees.

KIN_TYP_76 – 5-axis kinematics with MTCP oblique tool head 3:
Angle offset of bevel head with regard to mounting

The orientation of the bevel head with regard to the Cartesian machine coordinate system can be set with parameter HD6.