KIN_TYP_58 – Five-axis kinematics with A/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, A, C

Axis index

0, 1, 2, 3, 4

Kinematic structure

 

Tool axes

Workpiece axes

NC axes

X, Y, Z

A, C

Kinematics of 5-axis machine with AC workpiece table
Kinematics of 5-axis machine with AC workpiece table
Offsets in X/Z view
Offsets in X/Z view
Offsets in Y/Z view
Offsets in Y/Z view

Typically the machine origin is located in the rotary axis A. As required, it can be shifted using parameters HD7 to HD9. Differing zero positions of the rotary axes A and C can be set by the parameters HD10 and HD11 so that the internal kinematic model matches the real machine kinematics. In the same way differing rotation directions of the A 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 shifted 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 A to rotary axis C, origin WCS

1.0 E-4 mm

HD5

4

Y axis offset from rotary axis A to rotary axis C, origin WCS

1.0 E-4 mm

HD6

5

Z axis offset from rotary axis A to rotary axis C, origin WCS

1.0 E-4 mm

HD7

6

X offset from machine origin MZP to rotary axis A

1.0 E-4 mm

HD8

7

Y offset from machine origin MZP to rotary axis A

1.0 E-4 mm

HD9

8

Z offset from machine origin MZP to rotary axis A

1.0 E-4 mm

HD10

9

Rotary offset A axis

1.0 E-4°

HD11

10

Rotary offset C axis

1.0 E-4°

HD12

11

Rotation direction flag A 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