KIN_TYP_64 – 6-axis kinematics with C/A/C workpiece table

Kinematic structure

The kinematic structure consists of 3 translatory axes in the tool and 3 rotary axes in the workpiece.

Axis configuration in the NC channel

Axis identifier

X, Y, Z, C1, A, C2

Axis index

0, 1, 2, 3, 4, 5

Kinematic structure

 

Tool axes

Workpiece axes

NC axes

X, Y, Z

C1, A, C2

Kinematic structure of 6-axis machine with CAC workpiece table.
Kinematic structure of 6-axis machine with CAC workpiece table.
Parameters of CAC workpiece table in X/Z representation
Parameters of CAC workpiece table in X/Z representation
Parameters of CAC workpiece table in Y/Z representation
Parameters of CAC workpiece table in Y/Z representation

Typically, the machine origin is located in the rotary axis C1. If required, it can be shifted using parameters HD10 to HD12. Differing origin positions of rotary axes C1 and A or A and C2 can be set using parameters HD4 to HD9 so that the internal kinematic model matches the real machine kinematics. In the same way, differing directions of rotation of the axes C1, A and C2 can be set using the parameters HD16 to HD18. In general, the signs of command and actual parameters must also be modified accordingly in the axis parameters.

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 C1 to rotary axis A, origin WCS

1.0 E-4 mm

HD5

4

Y axis offset rotary axis C1 to rotary axis A, origin WCS

1.0 E-4 mm

HD6

5

Z axis offset rotary axis C1 to rotary axis A, origin WCS

1.0 E-4 mm

HD7

6

X axis offset rotary axis A to rotary axis C2, origin WCS

1.0 E-4 mm

HD8

7

Y axis offset rotary axis A to rotary axis C2, origin WCS

1.0 E-4 mm

HD9

8

Z axis offset rotary axis A to rotary axis C2, origin WCS

1.0 E-4 mm

HD10

9

X offset machine origin MZP to rotary axis C1

1.0 E-4 mm

HD11

10

Y offset machine origin MZP to rotary axis C1

1.0 E-4 mm

HD12

11

Z offset machine origin MZP to rotary axis C1

1.0 E-4 mm

HD13

12

X offset origin CS

1.0 E-4 mm

HD14

13

Y offset origin CS

1.0 E-4 mm

HD15

14

Z offset origin CS

1.0 E-4 mm

HD16

15

Rotary offset C1 axis

1.0 E-4°

HD17

16

Rotary offset A axis

1.0 E-4°

HD18

17

Rotary offset C2 axis

1.0 E-4°

HD19

18

Rotation direction flag C1 axis

[ - ]

HD20

19

Rotation direction flag A axis

[ - ]

HD21

20

Rotation direction flag C2 axis

[ - ]