# KIN_TYP_81 – 5-axis kinematics with B/A workpiece table

## Kinematic structure

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

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

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 the kinematic structure, the rotary axis B in the workpiece and the reference point on the tool slide (here tool holding device) intersect at one point. The machine axis positions of the tool slide are then 0 in this position. In general these axis positions cannot be approached with a machine. The offsets to this position at tool slide position 0 can be set with parameters HD10, HD11, HD12.

## Offset data of kinematics

HD offset | param[i] | Description | Unit
HD1 | 0 | Z axis offset reference point tool slide to tool fixing point | 1.0 E-4 mm
HD2 | 1 | X axis offset reference point tool slide to tool fixing point | 1.0 E-4 mm
HD3 | 2 | Y axis offset reference point tool slide to tool fixing point | 1.0 E-4 mm
HD4 | 3 | X axis offset rotary axis B to rotary axis A | 1.0 E-4 mm
HD5 | 4 | Y axis offset rotary axis B to rotary axis A | 1.0 E-4 mm
HD6 | 5 | Z axis offset rotary axis B to rotary axis A | 1.0 E-4 mm
HD7 | 6 | X axis offset rotary axis A to origin WCS | 1.0 E-4 mm
HD8 | 7 | Y axis offset rotary axis A to origin WCS | 1.0 E-4 mm
HD9 | 8 | Z axis offset rotary axis A to origin WCS | 1.0 E-4 mm
HD10 | 9 | X offset to machine origin MNP | 1.0 E-4 mm
HD11 | 10 | Y offset to machine origin MNP | 1.0 E-4 mm
HD12 | 11 | Z offset to machine origin MNP | 1.0 E-4 mm
HD13 | 12 | Rotary offset B axis | 1.0 E-4°
HD14 | 13 | Rotary offset A axis | 1.0 E-4°
HD15 | 14 | Rotation direction flag B axis | [ - ]
HD16 | 15 | Rotation direction flag A axis | [ - ]