# KIN_TYP_58 – Five-axis kinematics with A/C workpiece table

## Kinematic structure

The kinematic structure consists of 3 translatory axes in the tool and 2 rotary axes in the workpiece.

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

Kinematics of 5-axis machine with AC workpiece table
Offsets in X/Z view
Offsets in Y/Z view

Typically the machine origin is located in the rotary axis A. As required, it can be shifted using parameters HD7 to HD9. Differing zero positions of the rotary axes A and C can be set by the parameters HD10 and HD11 so that the internal kinematic model matches the real machine kinematics. In the same way differing rotation directions of the A and C axes can be set by the parameters HD12, HD13. In general, the signs of command and actual parameters must also be modified accordingly in the axis parameters.

The origin of the WCS on the turning table can be shifted by the parameters HD14 to HD16.

## Offset data of kinematics

HD offset | param[i] | Description | Unit
HD1 | 0 | Z tool offset holding device to reference point tool slide SBP | 10 E-4 mm
HD2 | 1 | X axis offset holding device to reference point tool slide SBP | 10 E-4 mm
HD3 | 2 | Y axis offset holding device to reference point tool slide SBP | 10 E-4 mm
HD4 | 3 | X axis offset rotary axis A to rotary axis C, origin WCS | 10 E-4 mm
HD5 | 4 | Y axis offset from rotary axis A to rotary axis C, origin WCS | 10 E-4 mm
HD6 | 5 | Z axis offset from rotary axis A to rotary axis C, origin WCS | 10 E-4 mm
HD7 | 6 | X offset from machine origin MNP to rotary axis A | 10 E-4 mm
HD8 | 7 | Y offset from machine origin MNP to rotary axis A | 10 E-4 mm
HD9 | 8 | Z offset from machine origin MNP to rotary axis A | 10 E-4 mm
HD10 | 9 | Rotary offset A axis | 10 E-4°
HD11 | 10 | Rotary offset C axis | 10 E-4°
HD12 | 11 | Rotation direction flag A axis | [ - ]
HD13 | 12 | Rotation direction flag C axis | [ - ]
HD14 | 13 | X offset origin WCS | 10 E-4 mm
HD15 | 14 | Y offset origin WCS | 10 E-4 mm
HD16 | 15 | Z offset origin WCS | 10 E-4 mm