KIN_TYP_209 - Tripod with rotary/swivel workpiece table

This kinematic is based on the strut kinematic (KIN_TYP_12) and additionally contains a rotary/swivel workpiece table to carry out conventional 5-axis machining.

Release Note

release_note

This kinematic is available as of CNC Build V3.01.3078.

Axis configuration in NC channel

Axis identifier

X, Y, Z (Z1, Z2, Z3), A(B), C

Axis index

0, 1, 2, 3, 4

Kinematic structure

 

Tool axes

Workpiece axes

NC axes

X, Y, Z

A(B), C

Trip kinematics with CA rotary/swivel table
Trip kinematics with CA rotary/swivel table
Offset dimensions of strut kinematics
Offset dimensions of strut kinematics

The parameter HD8 is used to toggle between an ideal (1) and non-ideal (0) tripod. An ideal tripod has an angle of 120° between all columns. A non-ideal tripod must be defined by the angles HD9 and HD10.
The third angle between columns is calculated as follows:

W_Z1Z2 = 360° - HD9 – HD10 = 360° - W_Z2Z3 – W_Z1Z3

An angle offset of the rotary/swivel table due to mounting constraints can be compensated by HD30.

Rotary/swivel table – CA variant

HD31 defines the rotary/swivel table variant. By default the parameter is assigned the value 0 defining the CA variant.

Angle offset HD30 of the CA rotary/swivel table
Angle offset HD30 of the CA rotary/swivel table

CA rotary/swivel table offsets

CA rotary/swivel table offsets
CA rotary/swivel table offsets

Rotary/swivel table – CB variant

If HD31 is assigned the value 1, the CB variant is defined.

Angle offset HD30 of the CB rotary/swivel table
Angle offset HD30 of the CB rotary/swivel table

CB rotary/swivel table offsets

CB rotary/swivel table offsets
CB rotary/swivel table offsets

Tripod kinematics offset data

HD offset

param[i]

Description

Unit

HD1

0

Tool offset Z

1.0 E-4 mm

HD2

1

Tool offset Y

1.0 E-4 mm

HD3

2

Tool offset X

1.0 E-4 mm

HD4

3

Z axis offset machine origin

1.0 E-4 mm

HD5

4

Radius to connecting line of the joint centre points on the drive columns (large circle)

1.0 E-4 mm

HD6

5

Radius to connecting line of the joint centre points on the holder platform (small circle)

1.0 E-4 mm

HD7

6

Strut length to each joint centre point

1.0 E-4 mm

HD8

7

Switch to switch over to non-ideal tripod
0 : ideal tripod
1 : non-ideal tripod and enable HD9 / HD 10

[ - ]

HD9

8

Angle of column / joint 3 to column / joint 1

1.0 E-4°

HD10

9

Angle of column / joint 3 to column / joint 2

1.0 E-4°

Offset data of the rotary/swivel table

HD offset

param[i]

Description

Unit

HD30

29

Angle offset about Z of Cartesian basic system to tripod column Z3

1.0 E-4°

HD31

30

Type of rotary workpiece holder 0: CA, 1:CB

Default value = 0

[ - ]

HD32

31

X axis offset rotary axis A, (B) to rotary axis C, origin WCS

1.0 E-4 mm

HD33

32

Y axis offset rotary axis A, (B) to rotary axis C, origin WCS

1.0 E-4 mm

HD34

33

Z axis offset rotary axis A, (B) to rotary axis C, origin WCS

1.0 E-4 mm

HD35

34

X offset machine origin MZP to rotary axis A, (B)

1.0 E-4 mm

HD36

35

Y offset from machine origin MZP to rotary axis A, (B)

1.0 E-4 mm

HD37

36

Z offset machine origin MZP to rotary axis A, (B)

1.0 E-4 mm

HD38

37

Rotary offset A (B) axis

1.0 E-4°

HD39

38

Rotary offset C axis

1.0 E-4°

HD40

39

Rotation direction flag A (B) axis

[ - ]

HD41

40

Rotation direction flag C axis

[ - ]