# KIN_TYP_63 – 5-axis kinematics with X/Y/B workpiece table

## Kinematic structure

The kinematic structure consists of 1 translatory and 1 rotary NC axis in the workpiece and 2 translatory and one rotary NC axis in the tool. The transformation supports additional offset parameters for a non-symmetric construction and substitutes the existing kinematic structure KIN_TYP_23.

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

Axis configuration of 5-axis machine
Offsets of tool head
Offsets of workpiece holder
Ideal and real Z zero position

In the ideal zero position of kinematic structure, the rotary axis B in the workpiece and the rotary axis A in the tool intersect at one point. The machine axis positions of the tool slide are then 0 in this position. Normally these axis positions cannot be approached with a real machine structure. The offsets at tool slide position 0 to this position can be set with parameters HD7, HD8, HD9.

## Offset data of kinematics

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