KIN_TYP_61 – 5-axis kinematics with Y/A workpiece table
Kinematic structure
The kinematic structure consists of 1 translatory and 1 rotary NC axis in the workpiece and 2 translatory and one rotary NC axis in the tool.
Axis configuration in the NC channel | ||
Axis identifier | X, Y, Z, A, B | |
Axis index | 0, 1, 2, 3, 4 | |
Kinematic structure | ||
| Tool axes | Workpiece axes |
NC axes | X, Z, B | Y, A |
In the ideal zero position of the kinematic structure, the rotary axis A in the workpiece and the rotary axis B in the tool intersect at one point. The machine axis positions of the tool slide are then 0 in this position. Normally these axis positions cannot be approached with a real machine structure. The offsets at tool slide position 0 to this position can be set with parameters HD7, HD8, HD9.
Offset data of kinematics
HD offset | param[i] | Description | Unit |
HD1 | 0 | Z offset tool rotation point B axis to tool holder point | 10 E-4 mm |
HD2 | 1 | X offset tool rotation point B axis to tool holder point | 10 E-4 mm |
HD3 | 2 | Y offset tool rotation point B axis to tool holder point | 10 E-4 mm |
HD4 | 3 | X offset rotation point B axis to reference point tool slide | 10 E-4 mm |
HD5 | 4 | Y offset rotation point B axis to reference point tool slide | 10 E-4 mm |
HD6 | 5 | Z offset rotation point B-axis to reference point tool slide | 10 E-4 mm |
HD7 | 6 | X offset to machine origin | 10 E-4 mm |
HD8 | 7 | Y offset to machine origin | 10 E-4 mm |
HD9 | 8 | Z offset to machine origin | 10 E-4 mm |
HD10 | 9 | X offset A rotary axis to origin WCS | 10 E-4 mm |
HD11 | 10 | Y offset A rotary axis to origin WCS | 10 E-4 mm |
HD12 | 11 | Z offset A rotary axis to origin WCS | 10 E-4 mm |
HD13 | 12 | Rotary offset A axis | 10 E-4° |
HD14 | 13 | Rotary offset B axis | 10 E-4° |
HD15 | 14 | Rotation direction flag A axis | [ - ] |
HD16 | 15 | Rotation direction flag B axis | [ - ] |