KIN_TYP_208 – 4-axis robot on linear unit
Kinematic structure
The Kinematic Structure consists of a linear unit that carries a four-axis robot.
Axis configuration in the NC channel | ||
Axis identifier | X, Y, Z, C, A, (A1, A2, A3, A4, A5,) | |
Axis index | 0, 1, 2, 3, 4 | |
Kinematic structure | ||
| Tool axes | Workpiece axes |
NC axes | X, Y, Z, C, A, | - |
Axis configuration
The axis configuration below is recommended.
Axis name | Axis type (P-AXIS-00018) | Axis mode (P-AXIS-00015) |
A1 | Linear | Linear |
A2 | Rotation | Linear |
A3 | Rotation | Linear |
A4 | Rotation | Linear, modulo range -180° to 180° |
A5 | Rotation | Linear, modulo range -180° to 180° |
 | Software limit switches can be configured for axes with linear axis mode to reduce the risk of collisions, |
The position of the axes in space is described in the zero position of the machine. A mount point is specified in the Machine Coordinate System for each rotary axis.
There is a length and angle offset for each axis.
Offset data of kinematics
HD offset | param[i] | Description | Unit |
HD1 | 0 | Tool offset in X direction | 1.0 E-4 mm |
HD2 | 1 | Tool offset in Y direction | 1.0 E-4 mm |
HD3 | 2 | Tool offset in Z direction | 1.0 E-4 mm |
HD4 | 3 | Tool rotation about the Z’ axis | 1.0 E-4° |
HD5 | 4 | Tool rotation about the Y’ axis | 1.0 E-4° |
HD6 | 5 | Tool rotation about the X’ axis | 1.0 E-4° |
HD7-HD9 | 6-8 | - |
|
HD10 | 9 | Deviation of A1 in XZ plane | 1.0 E-4° |
HD11 | 10 | Deviation of A1 in XY plane | 1.0 E-4° |
HD12 | 11 | Length offset for A1 | 1.0 E-4 mm |
HD13 | 12 | X coordinate of mount point of A2 | 1.0 E-4 mm |
HD14 | 13 | Y coordinate of mount point of A2 | 1.0 E-4 mm |
HD15 | 14 | Z coordinate of mount point of A2 | 1.0 E-4 mm |
HD16 | 15 | Deviation of A2 in XZ plane | 1.0 E-4° |
HD17 | 16 | Deviation of A2 in XY plane | 1.0 E-4° |
HD18 | 17 | Angle offset for A2 | 1.0 E-4° |
HD19 | 18 | X coordinate of mount point of A3 | 1.0 E-4 mm |
HD20 | 19 | Y coordinate of mount point of A3 | 1.0 E-4 mm |
HD21 | 20 | Z coordinate of mount point of A3 | 1.0 E-4 mm |
HD22 | 21 | Deviation of A3 in XZ plane | 1.0 E-4° |
HD23 | 22 | Deviation of A3 in XY plane | 1.0 E-4° |
HD24 | 23 | Angle offset for A3 | 1.0 E-4° |
HD25 | 24 | X coordinate of mount point of A4 | 1.0 E-4 mm |
HD26 | 25 | Y coordinate of mount point of A4 | 1.0 E-4 mm |
HD27 | 26 | Z coordinate of mount point of A4 | 1.0 E-4 mm |
HD28 | 27 | Deviation of A4 in XZ plane | 1.0 E-4° |
HD29 | 28 | Deviation of A4 in XY plane | 1.0 E-4° |
HD30 | 29 | Angle offset for A4 | 1.0 E-4° |
HD31 | 30 | X coordinate of mount point of A5 | 1.0 E-4 mm |
HD32 | 31 | Y coordinate of mount point of A5 | 1.0 E-4 mm |
HD33 | 32 | Z coordinate of mount point of A5 | 1.0 E-4 mm |
HD34 | 33 | Deviation of A5 in YZ plane | 1.0 E-4° |
HD35 | 34 | Deviation of A5 in XY plane | 1.0 E-4° |
HD36 | 35 | Angle offset for A5 | 1.0 E-4° |
Tool offset data of the kinematic
The parameters HD1 to HD6 are available for a tool flanged onto axis A5.
| If a tool length is active (`V.G.WZ_AKT.L`.), it is added to `HD3`. |
Use of coordinate systems (#CS command)
If a coordinate system (#CS command) is used, the channel parameter P-CHAN-00247 must be set to 1.
If P-CHAN-00247 is not set, the #CS command has no effect.