KIN_TYP_5 – 4-axis kinematics with crosshead for 4 tools

Kinematic structure

The kinematic structure consists of 3 translatory axes and 1 rotary axis in the tool.

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, C

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4-axis kinematics with crosshead for 4 tools
4-axis kinematics with crosshead for 4 tools
Tool crosshead
Tool crosshead

The tool that is currently active is specified by assigning tool offset HD5 to the C axis. HD5 is calculated positively from the zero position of the C axis (Y axis) in the direction of the tool position.

If the 4 tools are arranged at right angles to each other as shown in the figure above, changing spindles results in a rotation of the C axis through 90° or 180° and translatory shifts of the X axis and Y axis. This is due to the geometry constants when RTCP is active.

Tool crosshead with zero positions of the tools 1 to 4
Tool crosshead with zero positions of the tools 1 to 4

Notice

notice

A data record containing head parameters must be kept for each head tool. The related tool head data record is used to select one of the tools 1 to 4.

To measure the head offsets of the individual tools, the related tool is rotated and brought to zero position of tool 1 (positive Y direction).

Besides the uniform head parameters HD1, HD4, HD5, head parameter HD2 is used for tools 1 and 2 and head parameter HD3 for tools 3 and 4.

Offset data of kinematics

HD offset

param[i]

Description

Unit

HD1

0

Offset tool holding device to reference point

10 E-4 mm

HD2

1

Offset reference point rotation centre point C axis tool 1 and 2

10 E-4 mm

HD3

2

Offset reference point rotation centre point C axis tool 3 and 4

10 E-4 mm

HD4

3

Z axis offset tool holding device

10 E-4 mm

HD5

4

Rotary angular offset C axis zero position

10 E-4°

HD7

6

Static tool offset in X

10 E-4 mm

HD8

7

Static tool offset in Y

10 E-4 mm