KIN_TYP_63 – 5-axis kinematics with X/Y/B workpiece table

Kinematic structure

The kinematic structure consists of one translatory and one rotary NC axis in the workpiece and 2 translatory and one rotary NC axis in the tool. The transformation supports additional offset parameters for a non-symmetric construction and substitutes the existing kinematic structure KIN_TYP_23.

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

Z, A

X,Y, B

Axis configuration of 5-axis machine
Axis configuration of 5-axis machine
Offsets of tool head
Offsets of tool head
Offsets of workpiece holder
Offsets of workpiece holder
Ideal and real Z zero position
Ideal and real Z zero position

In the ideal zero position of kinematic structure, the rotary axis B in the workpiece and the rotary axis A 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 A axis to tool holder device

1.0 E-4 mm

HD2

1

X offset tool rotation point A axis to tool holder device

1.0 E-4 mm

HD3

2

Y offset tool rotation point A axis to tool holder device

1.0 E-4 mm

HD4

3

X offset rotation point A axis to reference point tool slide

1.0 E-4 mm

HD5

4

Y offset rotation point A axis to reference point tool slide

1.0 E-4 mm

HD6

5

Z offset rotation point A axis to reference point tool slide

1.0 E-4 mm

HD7

6

X offset to machine origin

1.0 E-4 mm

HD8

7

Y offset to machine origin

1.0 E-4 mm

HD9

8

Z offset to machine origin

1.0 E-4 mm

HD10

9

X offset B rotary axis to origin WKS

1.0 E-4 mm

HD11

10

Y offset B rotary axis to origin WKS

1.0 E-4 mm

HD12

11

Z offset B rotary axis to origin WKS

1.0 E-4 mm

HD13

12

Rotary offset A axis

1.0 E-4°

HD14

13

Rotary offset B axis

1.0 E-4°

HD15

14

Rotation direction flag A axis

[ - ]

HD16

15

Rotation direction flag B axis

[ - ]

HD17

16

X zero offset in the WCS

1.0 E-4 mm

HD18

17

Y zero offset in the WCS

1.0 E-4 mm

HD19

18

Z zero offset in the WCS

1.0 E-4 mm