KIN_TYP_57 – 5-axis kinematics with B/C workpiece table
Kinematic structure
The kinematic structure consists of 3 translatory axes in the tool and 2 rotary axes in the workpiece.
Axis configuration in the NC channel | ||
Axis identifier | X, Y, Z, B, C | |
Axis index | 0, 1, 2, 3, 4 | |
Kinematic structure | ||
| Tool axes | Workpiece axes |
NC axes | X, Y, Z | B, C |
The machine origin can be shifted by the parameters HD7 to HD9. Differing zero positions of the rotary axes B and C can be set by the parameters HD10, HD11 so that the internal kinematic model matches the real machine kinematics. In the same way, differing rotation directions of the B and C axes can be set by the parameters HD12, HD13. In general, the signs of command and actual parameters must also be modified accordingly in the axis parameters.
The origin of the WCS on the turning table can be defined by the parameters HD14 to HD16.
Offset data of kinematics
HD offset | param[i] | Description | Unit |
HD1 | 0 | Z tool offset holding device to reference point tool slide SRP | 1.0 E-4 mm |
HD2 | 1 | X axis offset holding device to reference point tool slide SRP | 1.0 E-4 mm |
HD3 | 2 | Y axis offset holding device to reference point tool slide SRP | 1.0 E-4 mm |
HD4 | 3 | X axis offset rotary axis B to rotary axis C, origin WCS | 1.0 E-4 mm |
HD5 | 4 | Y axis offset rotary axis B to rotary axis C, origin WCS | 1.0 E-4 mm |
HD6 | 5 | Z axis offset rotary axis B to rotary axis C, origin WCS | 1.0 E-4 mm |
HD7 | 6 | X offset machine origin MZP to rotary axis B | 1.0 E-4 mm |
HD8 | 7 | Y offset machine origin MZP to rotary axis B | 1.0 E-4 mm |
HD9 | 8 | Z offset machine origin MZP to rotary axis B | 1.0 E-4 mm |
HD10 | 9 | Rotary offset B axis | 1.0 E-4° |
HD11 | 10 | Rotary offset C axis | 1.0 E-4° |
HD12 | 11 | Rotation direction flag B axis | [ - ] |
HD13 | 12 | Rotation direction flag C axis | [ - ] |
HD14 | 13 | X offset origin WCS | 1.0 E-4 mm |
HD15 | 14 | Y offset origin WCS | 1.0 E-4 mm |
HD16 | 15 | Z offset origin WCS | 1.0 E-4 mm |