KIN_TYP_25 – 5-axis kinematics with plasma/laser head

Kinematic structure

The kinematic structure consists of 3 translatory NC axes and 2 rotary NC axes in the tool. As a special feature, the effective tool length with these kinematics changes depending on the A angle.

Axis configuration in the NC channel
Axis identifier	X, Y, Z, C, A
Axis index	0, 1, 2, 3, 4
Kinematic structure
	Tool axes	Workpiece axes
NC axes	X, Y, Z, C, A	-

5-axis plasma/laser head (zero position where HD3 = 0, AM=0, HD4=0, CM=0)

The M and K points in the figure above are two reference points

(M)achine reference point and (K)inematic reference point

The ACS offset between the points M and K is a static offset, i.e. it is independent of the angular position of the rotary axes C, A.

When the head is in oblique position, the torch tip is at a constant height above the workpiece, i.e. where A!= 0 is the effective length L2 > L1.

To limit the active length L2 and therefore keep the required machine compensation movements as small as possible, select a small head inclination. (Maximum recommended: +/-45 degrees)

The inclined position is limited by configuring the software limit switches (P-AXIS-00177/ P-AXIS-00178) of the A axis.

Offset data of kinematics

HD offset	param[i]	Description	Unit
HD1	0	Z axis offset from torch tip to rotation point A axis (swivel axis)	1.0 E-4 mm
HD2	1	Z axis offset rotary axis A to tool head reference point	1.0 E-4 mm
HD3	2	Rotary angular offset A axis (default 0)	1.0 E-4°
HD4	3	Rotary angular offset C axis (default 0)	1.0 E-4°
HD5	4	Y axis offset rotation point C axis	1.0 E-4 mm
HD6	5	X axis offset rotation point C axis
HD7	6	Static head offset in X (default 0)	1.0 E-4 mm
HD8	7	Static head offset in Y (default 0)	1.0 E-4 mm
HD9	8	Y axis offset torch axis to rotation point A axis	1.0 E-4 mm