KIN_TYP_81 – 5-axis kinematics with B/A workpiece table
Kinematic structure
The kinematic structure consists of 3 translatory NC axes in the tool and two rotary NC axes in the workpiece.
Axis configuration in the NC channel | ||
Axis identifier | X, Y, Z, B, A | |
Axis index | 0, 1, 2, 3, 4 | |
Kinematic structure | ||
| Tool axes | Workpiece axes |
NC axes | X, Y, Z | B, A |
In the ideal zero position of the kinematic structure, the rotary axis B in the workpiece and the reference point on the tool slide (here tool holding device) intersect at one point. The machine axis positions of the tool slide are then 0 in this position. In general these axis positions cannot be approached with a machine. The offsets to this position at tool slide position 0 can be set with parameters HD10, HD11, HD12.
Offset data of kinematics
HD offset | param[i] | Description | Unit |
HD1 | 0 | Z offset reference point Tool slide to tool holding device | 1.0 E-4 mm |
HD2 | 1 | X offset reference point Tool slide to tool holding device | 1.0 E-4 mm |
HD3 | 2 | Y offset reference point Tool slide to tool holding device | 1.0 E-4 mm |
HD4 | 3 | X axis offset rotary axis B to rotary axis A | 1.0 E-4 mm |
HD5 | 4 | Y axis offset rotary axis B to rotary axis A | 1.0 E-4 mm |
HD6 | 5 | Z axis offset rotary axis B to rotary axis A | 1.0 E-4 mm |
HD7 | 6 | X axis offset rotary axis A to origin WCS | 1.0 E-4 mm |
HD8 | 7 | Y axis offset rotary axis A to origin WCS | 1.0 E-4 mm |
HD9 | 8 | Z axis offset rotary axis A to origin WCS | 1.0 E-4 mm |
HD10 | 9 | X offset to machine origin MNP | 1.0 E-4 mm |
HD11 | 10 | Y offset to machine origin MNP | 1.0 E-4 mm |
HD12 | 11 | Z offset to machine origin MNP | 1.0 E-4 mm |
HD13 | 12 | Rotary offset B axis | 1.0 E-4° |
HD14 | 13 | Rotary offset A axis | 1.0 E-4° |
HD15 | 14 | Rotation direction flag B axis | [ - ] |
HD16 | 15 | Rotation direction flag A axis | [ - ] |