# KIN_TYP_13/14 - Face transformation

An ideal machine structure is assumed for face machining (#FACE) with kinematic IDs 13 or 14.

## Mechanical offset corrections in Y direction

The effect of mechanical offset corrections depends on the machine ID for C axis face machining (P-CHAN-00008).

Characteristics of a Y offset

- With face transformation 2, i.e. P-CHAN-00008=2 - ID 14, it is impossible to pass through the rotation centre.
- The Y offset results in an enlargement of the critical zone about the rotation centre. With an ideal kinematic, however, this is only one point.
- The Y offset results in a critical zone (circle in the rotation centre) that cannot be approached.
- The dynamics in the vicinity of the critical zone are asymmetrical due to the Y offset.

The direction of rotation can be set using the HD parameter HD5.

HD5 = 0 (default) | HD5 = 1

## Offset data of the kinematics

HD offset | param[i] | Description | Unit
HD1 | 0 | Z offset up to tool fixing point | 1.0 E-4 mm
HD2 | 1 | Not assigned |
HD3 | 2 | Not assigned |
HD4 | 3 | Y offset | 1.0 E-4 mm
HD5 | 4 | Direction of rotation | [-]

## Programing Example

Change in direction of rotation in face machining

%L sub_face_mach

N10 #FACE[X, C]

N20 X1 C0

N30 $FOR P1=1, 2, 1

N40 P2 = P1*0.1

N50 G01 XP2 F2000

N[60+P1] G02 I-P2

N70 $ENDFOR

N80 #FACE OFF

M29

%main

V.G.KIN[13].PARAM[0]=1000000

V.G.KIN[13].PARAM[1]=0

V.G.KIN[13].PARAM[2]=0

V.G.KIN[13].PARAM[3]=P10*10000

V.G.KIN[13].PARAM[4]=1

N100 #SET AX[X,1,0][Y,2,1][Z,3,2][C,5,3]

N200 G00 X10 Y0 Z100 C0

N300 V.G.KIN[13].PARAM[4] = 0.0

N400 LL SUB_FACE_MACH

N500 V.G.KIN[13].PARAM[4] = 1.0 (Switch over direction of rotation)

N600 LL SUB_FACE_MACH

N700 V.G.KIN[13].PARAM[4] = 0.0

N800 LL SUB_FACE_MACH

M30

## TCP position left of rotation centre

The XTCP position and hence also the XACS position have no offsets on the right of the rotation centre of the workpiece rotation axis (for face_id 1 and face_id 2). Machining takes place on the right-hand side.

The TCP can also machine on the left-hand side if P-CHAN-00008=2 (face_id 2) is used. The switch-over from left to right can occur when the kinematic is inactive. Before selecting the kinematic, the X axis must be positioned at the negative position on the left of the rotation centre.

TCP machining on the right of rotation centre | TCP machining on the left of rotation centre