KIN_TYP_85 – Lever arm kinematics
Kinematic structure
The kinematic structure consists of 1 translatory axis and 1 rotary NC axis. The transformation can be selected for any X axis position (ACS). In this case a corresponding machine X position (MCS) is determined.
Depending on the angle position when the transformation is selected, the programmed contour is moved in the left-handed or right-handed pattern. When the transformation is active, the selection side is retained, i.e. there is no swapping between right-handed/left-handed beam. To swap the selection side, the transformation must be switched off.
In the motion range of the transformation used, the rotary axis may not have a modulo transition.
Axis configuration in the NC channel | ||
Axis identifier | X, Z | |
Axis index | 0, 1 | |
Kinematic structure | ||
| Tool axes | Workpiece axes |
NC axes | X, C | - |
Offset data of kinematics
HD offset | param[i] | Description | Unit |
HD1 | 0 | Z offset of rotation centre point | 10 E-4 mm |
HD2 | 1 | Arm length of lever arm | 10 E-4 mm |
HD3 | 2 | Angle offset of C axis to the horizontal | 10 E-4° |
