KIN_TYP_206 – 5-axis robot on linear unit
Kinematic structure
The Kinematic Structure consists of a linear unit that carries a five-axis robot.
Axis configuration in the NC channel | ||
Axis identifier | X, Y, Z, A, B, C (A1, A2, A3, A4, A5, A6) | |
Axis index | 0, 1, 2, 3, 4, 5 | |
Kinematic structure | ||
| Tool axes | Workpiece axes |
NC axes | X, Y, Z, A, B, C | - |
Axis configuration
The axis configuration below is recommended.
Axis name | Axis type (P-AXIS-00018) | Axis mode (P-AXIS-00015) |
A1 | Linear | Linear |
A2 | Rotation | Linear |
A3 | Rotation | Linear |
A4 | Rotation | Modulo, 0° to 360° or Linear |
A5 | Rotation | Modulo, 0° to 360° |
A6 | Rotation | Modulo, 0° to 360° |
Notice
Software limit switches can be configured for axes with linear axis mode to reduce the risk of collisions,
The position of the axes in space is described in the zero position of the machine. A mount point is specified in the Machine Coordinate System for each rotary axis.
There is a length and angle offset for each axis.
Offset data of kinematics
HD offset | param[i] | Description | Unit |
HD1 | 0 | Tool offset in X direction | 1.0 E-4 mm |
HD2 | 1 | Tool offset in Y direction | 1.0 E-4 mm |
HD3 | 2 | Tool offset in Z direction | 1.0 E-4 mm |
HD4 | 3 | Tool rotation about the Z’ axis | 1.0 E-4° |
HD5 | 4 | Tool rotation about the Y’ axis | 1.0 E-4° |
HD6 | 5 | Tool rotation about the X’ axis | 1.0 E-4° |
HD7-HD9 | 6-8 | - |
|
HD10 | 9 | Deviation of A1 in XZ plane | 1.0 E-4° |
HD11 | 10 | Deviation of A1 in XY plane | 1.0 E-4° |
HD12 | 11 | Length offset for A1 | 1.0 E-4 mm |
HD13 | 12 | X coordinate of mount point of A2 | 1.0 E-4 mm |
HD14 | 13 | Y coordinate of reference point of A2 | 1.0 E-4 mm |
HD15 | 14 | Z coordinate of reference point of A2 | 1.0 E-4 mm |
HD16 | 15 | Deviation of A2 in XZ plane | 1.0 E-4° |
HD17 | 16 | Deviation of A2 in XY plane | 1.0 E-4° |
HD18 | 17 | Angle offset for A2 | 1.0 E-4° |
HD19 | 18 | X coordinate of mount point of A3 | 1.0 E-4 mm |
HD20 | 19 | Y coordinate of reference point of A3 | 1.0 E-4 mm |
HD21 | 20 | Z coordinate of reference point of A3 | 1.0 E-4 mm |
HD22 | 21 | Deviation of A3 in XZ plane | 1.0 E-4° |
HD23 | 22 | Deviation of A3 in XY plane | 1.0 E-4° |
HD24 | 23 | Angle offset for A3 | 1.0 E-4° |
HD25 | 24 | X coordinate of mount point of A4 | 1.0 E-4 mm |
HD26 | 25 | Y coordinate of reference point of A4 | 1.0 E-4 mm |
HD27 | 26 | Z coordinate of reference point of A4 | 1.0 E-4 mm |
HD28 | 27 | Deviation of A4 in XZ plane | 1.0 E-4° |
HD29 | 28 | Deviation of A4 in XY plane | 1.0 E-4° |
HD30 | 29 | Angle offset for A4 | 1.0 E-4° |
HD31 | 30 | X coordinate of mount point of A5 | 1.0 E-4 mm |
HD32 | 31 | Y coordinate of mount point of A5 | 1.0 E-4 mm |
HD33 | 32 | Z coordinate of mount point of A5 | 1.0 E-4 mm |
HD34 | 33 | Deviation of A5 in YZ plane | 1.0 E-4° |
HD35 | 34 | Deviation of A5 in XY plane | 1.0 E-4° |
HD36 | 35 | Angle offset for A5 | 1.0 E-4° |
HD37 | 36 | X coordinate of mount point of A6 | 1.0 E-4 mm |
HD38 | 37 | Y coordinate of mount point of A6 | 1.0 E-4 mm |
HD39 | 38 | Z coordinate of mount point of A6 | 1.0 E-4 mm |
HD40 | 39 | Deviation of A6 in XZ plane | 1.0 E-4° |
HD41 | 40 | Deviation of A6 in XY plane | 1.0 E-4° |
HD42 | 41 | Angle offset for A6 | 1.0 E-4° |
HD43 | 42 | Cardanic angle alpha of A6 axis | 1.0 E-4° |
Tool offset data of the kinematic
The parameters HD1 to HD6 are available for a tool flanged onto axis A6.
Notice
If a tool length is active (`V.G.WZ_AKT.L`.), it is added to `HD2`.