KIN_TYP_60 – Cardanic kinematics with C/B head
The kinematic structure consists of 3 translatory and 3 rotary NC axes in the tool. The B axis is arranged about the X axis rotated by an angle!= 90 degrees; the angle is typically between 30 and 60 degrees.
Axis configuration in the NC channel | ||
Axis identifier | X, Y, Z, C, B | |
Axis index | 0, 1, 2, 3, 4 | |
Kinematic structure | ||
| Tool axes | Workpiece axes |
NC axes | X, Y, Z,C,B | - |
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 B axis | 1.0 E-4 mm |
HD5 | 4 | Y offset compensation point (SP) to B axis | 1.0 E-4 mm |
HD6 | 5 | Z offset compensation point (SP) to B axis | 1.0 E-4 mm |
HD7 | 6 | Angle between B axis and Z axis | 1.0 E-4° |
HD8 | 7 | X offset B axis to C axis | 1.0 E-4 mm |
HD9 | 8 | Y offset B axis to C axis | 1.0 E-4 mm |
HD10 | 9 | Z offset B 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 offset C axis | 1.0 E-4° |
HD15 | 14 | Rotary offset B axis | 1.0 E-4° |
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HD21 | 20 | Control flag for rotary axes C and B 0: Transformation of C and B, default. 1: C and B are machine angles. | [ - ] |
In general the reference point referred to as BRP (rotation point of B 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 a B spatial angle of maximum 2*HD7.
(*) The rotary offsets HS14 and HD 15 only act on the internal kinematic model, i.e. these offsets do not lead to a re-positioning of the cardanic head as for a rotary zero offset and programming of an angle position.
