KIN_TYP_28 – 5-axis kinematics
Kinematic structure
The kinematic structure consists of 3 translatory NC axes and 2 rotary NC axes in the tool. The physical angle position of the head C, A is adjusted by 2 gear-linked axes.
Axis configuration in the NC channel | ||
Axis identifier | X, Y, Z, C, A ( X, Y, Z, C1, C2) | |
Axis index | 0, 1, 2, 3, 4 | |
Kinematic structure | ||
| Tool axes | Workpiece axes |
NC axes | X, Y, Z, C(C1), A(C2) | - |
Offset data of kinematics
HD offset | param[i] | Description | Unit |
HD1 | 0 | Z axis offset from tool holding device to rotation point A axis (swivel axis) | 10 E-4 mm |
HD2 | 1 | Z axis offset rotary axis A to tool head reference point | 10 E-4 mm |
HD3 | 2 | Rotary angular offset A axis (default 0) |
|
HD4 | 3 | Rotary angular offset C axis (default 0) |
|
HD5 | 4 | Y axis offset rotation point C axis | 10 E-4 mm |
HD6 | 5 | X axis offset rotation point C axis | 10 E-4 mm |
HD7 | 6 | Static head offset in X (default 0) | 10 E-4 mm |
HD8 | 7 | Static head offset in Y (default 0) | 10 E-4 mm |
HD9 | 8 | Y axis offset milling tool axis to rotation point A axis | 10 E-4 mm |
HD10 | 9 | n.a. | [ - ] |
HD11 | 10 | Origin offset CA gear link | 10 E-4° |
HD12 | 11 | Gear link factor numerator | [ - ] |
HD13 | 12 | Gear link factor denominator | [ - ] |
HD14 | 13 | Sign rotary axis C | [ - ] |
HD15 | 14 | Sign rotary axis A | [ - ] |
HD16 | 15 | A factor numerator | [ - ] |
HD17 | 16 | A factor denominator | [ - ] |
The gear link between C and A is absolute and is executed as shown in the following equations:
CM = CW
AM = AW*ka + NP0 + kca*CW
where
: C -> A gear link factor
: A resolution factor
NP0 = HD11 : Origin offset gear link
The head rotary axes must be adjusted either as linear axes or as rotary axes with a sufficiently large modulo range. The SLS monitor in the channel acts on the drive positions depending on the limits in set in the MDS.