# KIN_TYP_2 – 5-axis kinematics with rotary/swivel head

## Kinematic structure

The kinematic structure of this machine consists of 3 translatory axes and 2 rotary axes in the tool (rotary/swivel head).

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 | X, Y, Z, A, B | -

Kinematics of the 5-axis milling machine with rotary/swivel head

The geometry constants HD1, HD2 and HD3 are required to describe the rotary/swivel head of the machine in the figure above. The figure below shows their application. The rotary/swivel head is shown in top view.

Sizes L, TX, HD1, HD2 and HD3 of the rotary/swivel head
Front view

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## Offset data of kinematics

HD offset | param[i] | Description | Unit
HD1 | 0 | Offset tool holding device to rotation point B axis | 10 E-4 mm
HD2 | 1 | Y offset from B axis to A axis | 10 E-4 mm
HD3 | 2 | X offset from B axis to A axis | 10 E-4 mm