# Implementation of CB head kinematic

Let's assume that the existing kinematic with ID 9, with a CA head kinematic, is to be converted to a CB head kinematic.

CB head kinematic

## Configuration of a CB machine

# CB machine: XYZCB

#

kinematik[91].rtcp 1

# Programming mode CB->19

kinematik[91].programming_mode 19

kinematik[91].number_of_axes 5

#WZ Zero orientation of machine axes

kinematik[91].zero_orientation[0] 0

kinematik[91].zero_orientation[1] 0

kinematik[91].zero_orientation[2] 1

#WZ Zero position of machine axes

kinematik[91].zero_position[0] 0

kinematik[91].zero_position[1] 0

kinematik[91].zero_position[2] 0

#

# X axis type, position (Index 0)

kinematik[91].axis[0].type 1 #lin

kinematik[91].axis[0].orientation[0] 1

kinematik[91].axis[0].orientation[1] 0

kinematik[91].axis[0].orientation[2] 0

#

# Y axis type, position (Index 1)

kinematik[91].axis[1].type 1 #lin

kinematik[91].axis[1].orientation[0] 0

kinematik[91].axis[1].orientation[1] 1

kinematik[91].axis[1].orientation[2] 0

#

# Z axis type, position (Index 2)

kinematik[91].axis[2].type 1 #lin

kinematik[91].axis[2].orientation[0] 0

kinematik[91].axis[2].orientation[1] 0

kinematik[91].axis[2].orientation[2] 1

#

# C axis type, position (Index 3)

kinematik[91].axis[3].type 2 #rot

kinematik[91].axis[3].orientation[0] 0

kinematik[91].axis[3].orientation[1] 0

kinematik[91].axis[3].orientation[2] 1

#

# B axis type, position (Index 4)

kinematik[91].axis[4].type 2 #rot

kinematik[91].axis[4].orientation[0] 0

kinematik[91].axis[4].orientation[1] 1

kinematik[91].axis[4].orientation[2] 0

kinematik[91].axis[4].point[0] 0

kinematik[91].axis[4].point[1] 0

kinematik[91].axis[4].point[2] 1000000

#

# Sequence of kinematic chain: YXZCB

kinematik[91].chain[0] 0 #X axis

kinematik[91].chain[1] 1 # Y axis

kinematik[91].chain[2] 2 # Z axis

kinematik[91].chain[3] 3 # C axis

kinematik[91].chain[4] 4 # B axis

#

The machine parameters can also be defined in the NC program similar to the example of the CA machine.