KIN_TYP_59 – Cardanic kinematics with C/A head
The kinematic structure consists of 3 translatory and 3 rotary NC axes in the tool. The A axis is rotated about the Y axis by an angle!= 90 degrees; typically the angle is between 30 and 60 degrees.
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 | - |
Offset data of kinematics
HD offset | param[i] | Description | Unit |
HD1 | 0 | Z offset to tool holding device | 1.0 E-4 mm |
HD2 | 1 | X offset to tool holding device | 1.0 E-4 mm |
HD3 | 2 | Y offset to tool holding device | 1.0 E-4 mm |
HD4 | 3 | X offset compensation point (SP) to A axis | 1.0 E-4 mm |
HD5 | 4 | Y offset compensation point (SP) to A axis | 1.0 E-4 mm |
HD6 | 5 | Z offset compensation point (SP) to A axis | 1.0 E-4 mm |
HD7 | 6 | Angle between A axis and Z axis | 1.0 E-4° |
HD8 | 7 | X offset A axis to C axis | 1.0 E-4 mm |
HD9 | 8 | Y offset A axis to C axis | 1.0 E-4 mm |
HD10 | 9 | Z offset A axis to C axis | 1.0 E-4 mm |
HD11 | 10 | X offset C axis to machine point M | 1.0 E-4 mm |
HD12 | 11 | Y offset C axis to machine point M | 1.0 E-4 mm |
HD13 | 12 | Z offset C axis to machine point M | 1.0 E-4 mm |
HD14 | 13 | Rotary internal offset C axis (*) | 1.0 E-4° |
HD15 | 14 | Rotary internal offset A axis (*) | 1.0 E-4° |
HD16 | 15 | Rotary offset C axis (*) | 1.0 E-4° |
HD17 | 16 | Rotary offset A axis (*) | 1.0 E-4° |
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HD21 | 20 | Control flag: 0: Transformation of rotary axes C and A, default. 1: The rotary axes C and A are machine angles. | [ - ] |
In general the reference point referred to as ARP (rotation point of A axis) wanders to reference point SP, i.e. the vector V3 is 0 and the point SP is located in the tool axis which has the same rotary axis as the C axis. In this case only the parameters L, HD1, HD7 and HD10 are required. The kinematics can transform an A spatial angle of maximum 2*HD7.
(*) The rotary offsets HD14 and HD15 only act on the internal kinematic model, i.e. these offsets are not transferred to the rotary axes. By contrast, the offsets HD16 and HD17 act like a zero offset when kinematic transformation is active. They also lead to a re-positioning of the cardanic head with rotary offset when an angular position is programmed.
