# KIN_TYP_22 – 5-axis kinematics with X/Y workpiece table

## Kinematic structure

The kinematic structure consists of 2 translatory NC axes in the workpiece, 2 rotary NC axes and 1 translatory axis in the tool.

Axis configuration in the NC channel
Axis identifier | X, Y, Z, A, B
Axis index | 0, 1, 2, 3, 4
Kinematic structure
| Tool axes | Workpiece axes
NC axes | Z, A, B | X, Y

Axis configuration of 5-axis machine
Kinematic offsets

## Offset data of kinematics

HD offset | param[i] | Description | Unit
HD1 | 0 | Z axis offset tool holding device to rotation point A / B axis | 1.0 E-4 mm
HD4 | 3 | Motion direction rotary axis A | [ - ]
HD5 | 4 | Motion direction rotary axis B | [ - ]