# KIN_TYP_1 – 5-axis kinematics/single-column bed machine

## Kinematic structure

The kinematic structure of this machine consists of 2 translatory axes and 1 rotary axis in the workpiece as well as 1 translatory axis and 1 rotary axis in the tool.

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

Kinematics of the single-column bed machine
Offsets in tool head
Offsets on workpiece holder

## Offset data of kinematics

HD offset | param[i] | Description | Unit
HD1 | 0 | Z offset tool holding device to rotation point B axis | 10 E-4 mm
HD2 | 1 | Z offset rotation point B-axis to reference point tool slide | 10 E-4 mm
HD3 | 2 | X offset reference point tool slide to rotation point B axis | 10 E-4 mm
HD4 | 3 | Y offset reference point tool slide to rotation point B axis | 10 E-4 mm
HD5 | 4 | X offset rotation point B axis to tool holding device | 10 E-4 mm
HD6 | 5 | Y offset rotation point B axis to tool holding device | 10 E-4 mm
HD7 | 6 | X offset machine origin MNP to rotary axis C | 10 E-4 mm
HD8 | 7 | Y offset machine origin MNP to rotary axis C | 10 E-4 mm
HD9 | 8 | Z offset machine origin MNP to rotary axis C | 10 E-4 mm
HD10 | 9 | Rotary offset rotary axis B | 10 E-4 mm
HD11 | 10 | Rotary offset rotary axis C | 10 E-4 mm
HD13 | 12 | Rotation direction B axis (*), 0: negative, 1positive | [ - ]
HD14 | 13 | Rotation direction C axis, 0 positive, 1 negative | [ - ]

(*) The rotation direction of the B axis is mathematically negative.