KIN_TYP_9 – 5-axis kinematics (boring and milling unit)

Kinematic structure

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

Axis configuration in the NC channel

Axis identifier

X, Y, Z, C, A

Axis index

0, 1, 2, 3, 4

Kinematic structure

 

Tool axes

Workpiece axes

NC axes

X, Y, Z, C, A

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5-axis kinematics (boring and milling unit)
5-axis kinematics (boring and milling unit)
5-axis boring and milling tool (zero position where HD3 = 0, AM=0, HD4=0, CM=0)
5-axis boring and milling tool (zero position where HD3 = 0, AM=0, HD4=0, CM=0)

The M and K points in the figure above are two reference points

(M)achine reference point and (K)inematic reference point

The ACS offset between the points M and K is a static offset, i.e. it is independent of the angular position of the rotary axes C, A.

Offset data of kinematics

HD offset

param[i]

Description

Unit

HD1

0

Z axis offset from tool holding device to rotation point A axis (swivel axis)

1.0 E-4 mm

HD2

1

Z axis offset rotary axis A to tool head reference point

1.0 E-4 mm

HD3

2

Rotary angular offset A axis (default 0)

1.0 E-4°

HD4

3

Rotary angular offset C axis (default 0)

1.0 E-4°

HD5

4

Y axis offset rotation point C axis

1.0 E-4 mm

HD6

5

X axis offset rotation point C axis

1.0 E-4 mm

HD7

6

Static head offset in X (default 0)

1.0 E-4 mm

HD8

7

Static head offset in Y (default 0)

1.0 E-4 mm

HD9

8

Y axis offset milling tool axis to rotation point A axis

1.0 E-4 mm