KIN_TYP_28 – 5-axis kinematics

Kinematic structure

The kinematic structure consists of 3 translatory NC axes and 2 rotary NC axes in the tool. The physical angle position of the head C, A is adjusted by 2 gear-linked axes.

Axis configuration in the NC channel

Axis identifier

X, Y, Z, C, A ( X, Y, Z, C1, C2)

Axis index

0, 1, 2, 3, 4

Kinematic structure

 

Tool axes

Workpiece axes

NC axes

X, Y, Z, C(C1), A(C2)

-

5-axis kinematics
5-axis kinematics
Tool head (zero position where HD3 = 0, A=0, HD4=0, C=0)
Tool head (zero position where HD3 = 0, A=0, HD4=0, C=0)

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)

10 E-4 mm

HD2

1

Z axis offset rotary axis A to tool head reference point

10 E-4 mm

HD3

2

Rotary angular offset A axis (default 0)

 

HD4

3

Rotary angular offset C axis (default 0)

 

HD5

4

Y axis offset rotation point C axis

10 E-4 mm

HD6

5

X axis offset rotation point C axis

10 E-4 mm

HD7

6

Static head offset in X (default 0)

10 E-4 mm

HD8

7

Static head offset in Y (default 0)

10 E-4 mm

HD9

8

Y axis offset milling tool axis to rotation point A axis

10 E-4 mm

HD10

9

n.a.

[ - ]

HD11

10

Origin offset CA gear link

10 E-4°

HD12

11

Gear link factor numerator

[ - ]

HD13

12

Gear link factor denominator

[ - ]

HD14

13

Sign rotary axis C

[ - ]

HD15

14

Sign rotary axis A

[ - ]

HD16

15

A factor numerator

[ - ]

HD17

16

A factor denominator

[ - ]

The gear link between C and A is absolute and is executed as shown in the following equations:

CM = CW

AM = AW*ka + NP0 + kca*CW

where

: C -> A gear link factor

: A resolution factor

NP0 = HD11 : Origin offset gear link

The head rotary axes must be adjusted either as linear axes or as rotary axes with a sufficiently large modulo range. The SLS monitor in the channel acts on the drive positions depending on the limits in set in the MDS.