KIN_TYP_4 - four-axis kinematics with double spindle head (top spindle)

Kinematic structure

The kinematic structure of the machine consists of 3 translatory axes and 1 rotary axis in the tool (double spindle head).

The KIN_TYP_3 selects the top spindle.

Axis configuration in the NC channel

Axis identifier

X, Y, Z, B

Axis index

0, 1, 2, 3

Kinematic structure

 

Tool axes

Workpiece axes

NC axes

X, Y, Z, B

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KIN_TYP_4 - four-axis kinematics with double spindle head (top spindle) 1:
Kinematic structure of the 4-axis milling machine with double spindle head

The top figure shows the structure of the milling head for the zero position of the B axis. It features 2 spindles (referred to in this document as top and bottom spindle irrespective of the current position of the B axis) so that 2 tools can be clamped rotated by 180° relative to each other.

A command in the NC program allows selection of the two spindles or which of the 2 tools is currently active.

If the top spindle is active, the programmed value for the B axis must be changed as follows:

bM=bM+180°

Thus, changing spindles means rotating the B axis through an angle of 180° and translatory shifts of all 3 linear axes. This is due to the geometry constants when RTCP is active.

KIN_TYP_4 - four-axis kinematics with double spindle head (top spindle) 2:
Side view and front view of the double spindle head (bottom spindle)

Offset data of kinematics

HD offset

param[i]

Description

Unit

HD1

0

Offset tool holding device to rotation point B axis

1.0 E-4 mm

HD2

1

Y offset tool head

1.0 E-4 mm

HD3

2

X offset from tool holding device to B axis

1.0 E-4 mm