KIN_TYP_82 – 6-axis kinematics with C workpiece table

Kinematic structure

The kinematic structure consists of 3 translatory axes in the tool, 2 rotary NC axes in the tool and 1 rotary axis in the workpiece.

Axis configuration in the NC channel

Axis identifier

X, Y, Z, B, C, A

Axis index

0, 1, 2, 3, 4, 5

Kinematic structure

 

Tool axes

Workpiece axes

NC axes

X, Y, Z, B, A

C

Axis configuration of 6-axis machine
Axis configuration of 6-axis machine
Tool head parameters
Tool head parameters
Offsets on workpiece holder
Offsets on workpiece holder

Offset data of kinematics

HD offset

param[i]

Description

Unit

HD1

0

Z offset tool to rotation point A axis

10 E-4 mm

HD2

1

X offset tool to rotation point A axis

10 E-4 mm

HD3

2

Y offset tool to rotation point A axis

10 E-4 mm

HD4

3

X offset rotation point A axis to B axis

10 E-4 mm

HD5

4

Y offset rotation point A axis to B axis

10 E-4 mm

HD6

5

Z offset rotation point A axis to B axis

10 E-4 mm

HD7

6

X offset B axis to reference point tool slide

10 E-4 mm

HD8

7

Y offset B axis to reference point tool slide

10 E-4 mm

HD9

8

Z offset B axis to reference point tool slide

10 E-4 mm

HD10

9

X offset C rotary axis to origin WCS

10 E-4 mm

HD11

10

Y offset C rotary axis to origin WCS

10 E-4 mm

HD12

11

Z offset C rotary axis to origin WCS

10 E-4 mm

HD13

12

X offset to machine origin

10 E-4 mm

HD14

13

Y offset to machine origin

10 E-4 mm

HD15

14

Z offset to machine origin

10 E-4 mm

HD16

15

Rotary offset B axis

10 E-4°

HD17

16

Rotary offset C axis

10 E-4°

HD18

17

Rotation direction flag B axis

[ - ]

HD19

18

Rotation direction flag C axis

[ - ]