KIN_TYP_3 - four-axis kinematics with double spindle head (top spindle)

Kinematic structure

The kinematic structure of the machine consists of 3 translatory axes and 1 rotary axis in the tool (double spindle head).

The KIN_TYP_4 selects the bottom spindle.

Axis configuration in the NC channel

Axis identifier

X, Y, Z, B

Axis index

0, 1, 2, 3

Kinematic structure

 

Tool axes

Workpiece axes

NC axes

X, Y, Z, B

-

Kinematic structure of the 4-axis milling machine with double spindle head
Kinematic structure of the 4-axis milling machine with double spindle head

The top figure shows the structure of the milling head for the zero position of the B axis. It features 2 spindles (referred to in this document as top and bottom spindle irrespective of the current position of the B axis) so that 2 tools can be clamped rotated by 180° relative to each other.

A command in the NC program allows selection of the two spindles or which of the 2 tools is currently active.

If the top spindle is active, the programmed value for the B axis must be changed as follows:

bM=bM+180°

Thus, changing spindles means rotating the B axis through an angle of 180° and translatory shifts of all 3 linear axes. This is due to the geometry constants when RTCP is active.

Side view and front view of the double spindle head (upper spindle)
Side view and front view of the double spindle head (upper spindle)

Offset data of kinematics

HD offset

param[i]

Description

Unit

HD1

0

Offset tool holding device to rotation point B axis

1.0 E-4 mm

HD2

1

Y offset tool head

1.0 E-4 mm

HD3

2

X offset from tool holding device to B axis

1.0 E-4 mm