# KIN_TYP_8 – 5-axis kinematics with man. auxiliary axis (sawing)

## Kinematic structure

The kinematic structure consists of 3 translatory NC axes and 1 rotary NC axis in the tool. A manually adjustable rotary 5th axis continues to be available. This axis cannot be addressed from the NC program.

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

5-axis kinematics (sawing tool with manual auxiliary axis A)
5-axis sawing tool (zero position where HD5 = 0, HD4 = +90,CM=0)

The automatic orientation setting of the 5-axis tool head with manually adjustable A axis depends on the position of the A axis.

If the physical machine axis position and the value in the HD parameter of the A axis do not match, no correct automatic alignment is possible.

## Offset data of kinematics

HD offset | param[i] | Description | Unit
HD2 | 1 | Y axis offset from tool holding device to rotation point A axis (swivel axis) | 1.0 E-4 mm
HD3 | 2 | Z axis offset from rotation point A axis to tool reference point | 1.0 E-4 mm
HD4 | 3 | Fixed angle setting of rotary A axis (swivel axis) | 1.0 E-4°
HD5 | 4 | Rotary angular offset C axis | 1.0 E-4°
HD7 | 6 | Static tool offset in X | 1.0 E-4 mm
HD8 | 7 | Static tool offset in Y | 1.0 E-4 mm
HD9 | 8 | X axis offset rotation point A axis to rotation point C axis | 1.0 E-4 mm
HD10 | 9 | Y axis offset rotation point A axis to rotation point C axis | 1.0 E-4 mm