# KIN_TYP_25 – 5-axis kinematics with plasma/laser head

## Kinematic structure

The kinematic structure consists of 3 translatory NC axes and 2 rotary NC axes in the tool. As a special feature, the effective tool length with these kinematics changes depending on the A angle.

Axis configuration in the NC channel
Axis identifier | X, Y, Z, C, A
Axis index | 0, 1, 2, 3, 4
Kinematic structure
| Tool axes | Workpiece axes
NC axes | X, Y, Z, C, A | -

5-axis kinematics (plasma/laser head)
5-axis plasma/laser head (zero position where HD3 = 0, AM=0, HD4=0, CM=0)

The M and K points in the figure above are two reference points

(M)achine reference point and (K)inematic reference point

The ACS offset between the points M and K is a static offset, i.e. it is independent of the angular position of the rotary axes C, A.

When the head is in oblique position, the torch tip is at a constant height above the workpiece, i.e. where A!= 0 is the effective length L2 > L1.

To limit the active length L2 and therefore keep the required machine compensation movements as small as possible, select a small head inclination. (Maximum recommended: +/-45 degrees)

The inclined position is limited by configuring the software limit switches (P-AXIS-00177/ P-AXIS-00178) of the A axis.

## Offset data of kinematics

HD offset | param[i] | Description | Unit
HD1 | 0 | Z axis offset from torch tip to rotation point A axis (swivel axis) | 1.0 E-4 mm
HD2 | 1 | Z axis offset rotary axis A to tool head reference point | 1.0 E-4 mm
HD3 | 2 | Rotary angular offset A axis (default 0) | 1.0 E-4°
HD4 | 3 | Rotary angular offset C axis (default 0) | 1.0 E-4°
HD5 | 4 | Y axis offset rotation point C axis | 1.0 E-4 mm
HD6 | 5 | X axis offset rotation point C axis |
HD7 | 6 | Static head offset in X (default 0) | 1.0 E-4 mm
HD8 | 7 | Static head offset in Y (default 0) | 1.0 E-4 mm
HD9 | 8 | Y axis offset torch axis to rotation point A axis | 1.0 E-4 mm