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

# 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