# Aligning the axis systems

- Clamp centre point into spindle chuck.
- B axis zero point: Use a protractor or a try-square to align the rotatory axis B in the tool so that the centre point is oriented perpendicular to the turntable face of C.
- Zero point of X and Y axes: Position X and Y so that the centre point (clamped into the spindle) is flush with the rotary axis of C.
- Z axis zero point: The zero point of the Z axis cannot be approached. This transpires whenever the rotary axis of the B axis lies on the C axis. Place the centre point on the turntable via positioning of Z. Determine the offset from the turntable surface C up to the centre or the B axis. Subtract this offset from the current position→ results in the zero position in the current coordinate system.
- C axis zero point: This can be selected freely depending on the later turntable support with workpiece fastening (see turntable coordinate system). The easiest thing is to position fastening holes in the C axis to a flush position with the direction of the X or Y machine axes.
- Figure 2 shows the resulting positive motion direction of the translatory machine axes and the rotation direction of the rotatory machine axes. Note that the machine can also be moved correctly in the conventional 2.5 D mode. For example, the turntable with the workpiece moves to the left when X100 is programmed!

Coordinate systems and motion directions
Kinematic offsets

Kinematics ID | Axis sequence
1 | X, Y, Z, B, C
Offset parameters | List parameters | Meaning
HD1 | kinematik[1].param[0] | z axis offset zero point until rotation point B axis

Axis configuration and kinematic offsets

Excerpt from the parameter list of the channel:

# Define axis configuration

# =================================

gruppe[0].achse[0].log_achs_nr 1

gruppe[0].achse[0].bezeichnung X

#

gruppe[0].achse[1].log_achs_nr 2

gruppe[0].achse[1].bezeichnung Y

#

gruppe[0].achse[2].log_achs_nr 3

gruppe[0].achse[2].bezeichnung Z

#

gruppe[0].achse[3].log_achs_nr 4

gruppe[0].achse[3].bezeichnung B

#

gruppe[0].achse[4].log_achs_nr 5

gruppe[0].achse[4].bezeichnung C

#

# Define kinematic parameters

# =================================

kinematik_id 1 5ax model machine

# Offsets in 0.1 æm

#

kinematik[1].param[0] 1450000 /* Tool clamping point offset to rotation point B axis */

kinematik[1].param[1] 0

kinematik[1].param[2] 0

kinematik[1].param[3] 0

kinematik[1].param[4] 0

kinematik[1].param[5] 0

kinematik[1].param[6] 0

.....

.....

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