KIN_TYP_208 – 4-axis robot on linear unit

Kinematic structure

The Kinematic Structure consists of a linear unit that carries a four-axis robot.

Axis configuration in the NC channel

Axis identifier

X, Y, Z, C, A, (A1, A2, A3, A4, A5)

Axis index

0, 1, 2, 3, 4

Kinematic structure

 

Tool axes

Workpiece axes

NC axes

X, Y, Z, C, A

-

4-axis robot on linear unit
4-axis robot on linear unit

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

Linear, modulo range -180° to 180°

A5

Rotation

Linear, modulo range -180° to 180°

Notice

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.

Example of a zero position
Example of a zero position

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 mount point of A2

1.0 E-4 mm

HD15

14

Z coordinate of mount 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 mount point of A3

1.0 E-4 mm

HD21

20

Z coordinate of mount 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 mount point of A4

1.0 E-4 mm

HD27

26

Z coordinate of mount 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°

Tool offset data of the kinematic

The parameters HD1 to HD6 are available for a tool flanged onto axis A5.

Notice

notice

If a tool length is active (`V.G.WZ_AKT.L`.), it is added to `HD3`.

Use of coordinate systems (#CS command)

If a coordinate system (#CS command) is used, the channel parameter P-CHAN-00247 must be set to 1.

If P-CHAN-00247 is not set, the #CS command has no effect.