# KIN_TYP_34 – 4-axis kinematics with X/C workpiece table

## Kinematic structure

The kinematic structure consists of 2 translatory NC axes in the tool, 1 translatory and 1 rotary NC axis in the workpiece.

Axis configuration in the NC channel
Axis identifier | X, Y, Z, C
Axis index | 0, 1, 2, 3
Kinematic structure
| Tool axes | Workpiece axes
NC axes | Y, Z | X, C

4-axis C axis kinematics
Origin offsets in rotary C axis workpiece holder

## Offset data of kinematics

HD offset | param[i] | Description | Unit
HD2 | 1 | MCS offset X | 1.0 E-4 mm
HD3 | 2 | MCS offset Y | 1.0 E-4 mm