# KIN_TYP_203 - FACE 2ROT kinematics

## Kinematic structure

Face machining with 2 rotary axes. The tool is supported by the rotary axis YL and the translatory axis ZL. The workpiece is aligned by the rotary axis C.

The transformation can be switched by the command #FACE 2ROT. The user programs X, Y, Z on the tool face in the Cartesian system.

The CS axis must have a modulo range of 0° to 360°, see P-AXIS-00126 and P-AXIS-00127.

Axis configuration in the NC channel
Axis identifier | C, YL, ZL
Axis index | 0, 1, 2
Kinematic structure
| Tool axes | Workpiece axes
NC axes | YL, ZL | C

HD offset | param[i] | Meaning | Unit
HD1 | 0 | Tool length offset | 1.0 E-4 mm
HD2 | 1 | X offset from machine origin to rotation centre of YL | 1.0 E-4 mm
HD3 | 2 | Y offset from machine origin to rotation centre of YL | 1.0 E-4 mm
HD4 | 3 | Z offset from machine origin to rotation centre of YL | 1.0 E-4 mm
HD5 | 4 | Angular offset for YL | 1.0 E-4°
HD6 | 5 | X offset from machine origin to rotation centre of C | 1.0 E-4 mm
HD7 | 6 | Y offset from machine origin to rotation centre of C | 1.0 E-4 mm
HD8 | 7 | Z offset from machine origin to rotation centre of C | 1.0 E-4 mm
HD9 | 8 | Angle offset for C | 1.0 E-4°
HD10 | 9 | Length of tool arm | 1.0 E-4 mm