# KIN_TYP_17 – five-axis kinematics with 2 manual auxiliary axes

## Kinematic structure

The kinematic structure consists of 3 translatory NC axes. In addition, 2 manually adjustable rotary axes are available. These axes cannot be addressed from the NC program.

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

5-axis kinematics (boring and milling tool with manual auxiliary axes C and A)
Boring and milling tool (zero position where HD3 = 0, HD4 = 0)

The axes are arranged as for a right-handed system. The zero position of the A axis is in the negative direction of the Z axis. No automatic orientation setting is possible for the 2-axis tool head with manually adjustable C and A axes.

## Offset data of kinematics

HD offset | param[i] | Description | Unit
HD1 | 0 | Z axis offset tool holding device to rotation point of A axis (swivel axis) | 1.0 E-4 mm
HD2 | 1 | Z axis offset rotation point A axis to tool head reference point | 1.0 E-4 mm
HD3 | 2 | Fixed angle setting of rotary A axis (swivel axis) | 1.0 E-4°
HD4 | 3 | Fixed angle setting of rotary C axis | 1.0 E-4°
HD5 | 4 | Y axis offset rotation point A axis to rotation point C axis (offset) | 1.0 E-4 mm
HD6 | 5 | X axis offset tool head reference point to rotation point C axis (offset) | 1.0 E-4 mm
HD7 | 6 | Static tool offset in X | 1.0 E-4 mm
HD8 | 7 | Static tool offset in Y | 1.0 E-4 mm