# KIN_TYP_7 – 5-axis kinematics with man. auxiliary axis (drilling)

## Kinematic structure

The kinematic structure consists of 3 translatory NC axes and 1 rotary NC axis in the tool. In addition, a manually adjustable rotary 5the axis is available. This fifth axis cannot be addressed from the NC program.

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

5-axis kinematics (boring and milling tool with manual auxiliary axis A)
5-axis boring and milling tool (zero position where HD3=0, HD4=0, CM=0)

The axes are arranged as for a right-handed system. The zero position of the A axis is in the negative direction of the Z axis.

The automatic orientation setting of the 5-axis tool head with manually adjustable A axis depends on the position of the A axis. If the physical machine axis position and the value in the HD parameter of the A axis do not match, no correct automatic alignment is possible.

## Offset data of kinematics

HD offset | param[i] | Description | Unit
HD1 | 0 | Z axis offset tool holding device to rotation point of A axis (swivel axis) | 10 E-4 mm
HD2 | 1 | Z axis offset rotation point A axis to tool head reference point | 10 E-4 mm
HD3 | 2 | Fixed angle setting of rotary A axis (swivel axis) | 10 E-4°
HD4 | 3 | Angular offset tool to C axis zero position | 10 E-4°
HD5 | 4 | Y axis offset rotation point A axis to rotation point C axis (offset) | 10 E-4 mm
HD6 | 5 | X axis offset tool head reference point to rotation point C axis (offset) | 10 E-4 mm
HD7 | 6 | Static tool offset in X | 10 E-4 mm
HD8 | 7 | Static tool offset in Y | 10 E-4 mm