# KIN_TYP_33 – 5-axis kinematics with oblique tool head

## Kinematic structure

The kinematic structure consists of 3 translatory NC axes and 2 rotary NC axes in the tool. As a special feature this kinematic structure requires no compensation motions of translatory axes due to the mechanical construction when the rotary axes rotate.

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 oblique tool head
Oblique tool head axis in zero position, HD7=0
Oblique tool head with 180 degree head offset in zero position, HD7=1

## Offset data of kinematic structure

HD offset | param[i] | Description | Unit
HD3 | 2 | Head angle | 10 E-4°
HD4 | 3 | Static X offset | 10 E-4 mm
HD5 | 4 | Static Y offset | 10 E-4 mm
HD6 | 5 | Static Z offset | 10 E-4 mm
HD7 | 6 | Orientation C axis head; required if head has a 180° offset in zero position | [ - ]