KIN_TYP_6 – 4-axis kinematics with underfloor milling tool

Kinematic structure

The kinematic structure consists of 3 translatory axes and 1 rotary axis in the tool. A special feature of this kinematic structure is that the tool points in the positive Z direction.

Axis configuration in the NC channel

Axis identifier

X, Y, Z, C

Axis index

0, 1, 2, 3

Kinematic structure

 

Tool axes

Workpiece axes

NC axes

X, Y, Z, C

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4-axis kinematics with underfloor milling tool
4-axis kinematics with underfloor milling tool
Tool head for underfloor milling (zero position where HD4 = 0)
Tool head for underfloor milling (zero position where HD4 = 0)

The axes are arranged as for a right-handed system. The zero position of the C axis is in the positive direction of the Y axis.

Offset data of kinematics

HD offset

param[i]

Description

Unit

HD2

1

Z axis offset tool holding device

10 E-4 mm

HD3

2

Y axis offset rotary axis C axis to tool rotary axis

10 E-4 mm

HD4

3

Rotary angular offset C axis zero position

10 E-4°

HD7

6

Static tool offset in X

10 E-4 mm

HD8

7

Static tool offset in Y

10 E-4 mm

HD9

8

X axis offset rotation point A axis to rotation point C axis

10 E-4 mm

HD10

9

Y axis offset rotation point A axis to rotation point C axis

10 E-4 mm