1. Example of a CA machine
Example
CA machine (ID09)
With a CA machine, all axes are on the tool side and none of them on the workpiece side. If you imagine walking from the machine origin (MNP) to the tool tip, the axes will occur
X, Y , Z, C, A
in this order. This is the axis sequence for the kinematic chain. A (simplified) configuration of the CA machine may also look like the following:
Configuration of a CA machine
# Zero orientation of the tool
# Tool points in Z direction
kinematik[91].zero_orientation[0] 0
kinematik[91].zero_orientation[1] 0
kinematik[91].zero_orientation[2] 1
# Zero position of the tool
# Tool rests at point (12000, -3200, 500)
kinematik[91].zero_position[0] 12000
kinematik[91].zero_position[1] -3200
kinematik[91].zero_position[2] 500
# Define X axis (index 0)
kinematik[91].axis[0].type 1
kinematik[91].axis[0].orientation[0] 1
kinematik[91].axis[0].orientation[1] 0
kinematik[91].axis[0].orientation[2] 0
…
# Define Y axis (index 1)
kinematik[91].axis[1].type 1
kinematik[91].axis[1].orientation[0] 0
kinematik[91].axis[1].orientation[1] 1
kinematik[91].axis[1].orientation[2] 0
…
# Define Z axis (index 2)
kinematik[91].axis[2].type 1
kinematik[91].axis[2].orientation[0] 0
kinematik[91].axis[2].orientation[1] 0
kinematik[91].axis[2].orientation[2] 1
…
# define C axis (index 3)
kinematik[91].axis[3].type 2
kinematik[91].axis[3].orientation[0] 0
kinematik[91].axis[3].orientation[1] 0
kinematik[91].axis[3].orientation[2] 1
…
# Define A axis (index 4)
kinematik[91].axis[4].type 2
kinematik[91].axis[4].orientation[0] 1
kinematik[91].axis[4].orientation[1] 0
kinematik[91].axis[4].orientation[2] 0
…
# Sequence in kin. chain: XYZCA
kinematik[91].chain[0] 0 # X axis
kinematik[91].chain[1] 1 # Y axis
kinematik[91].chain[2] 2 # Z axis
kinematik[91].chain[3] 3 # C axis
kinematik[91].chain[4] 4 # A axis