KIN_TYP_70 – 5-axis kinematics

Kinematic structure

The kinematic structure consists of 3 translatory and 3 rotary NC axes in the tool. With these kinematics, tool head rotation about Z can be set in the case of non-axis-parallel orientation of the BA rotary head. A virtual axis CV can be used to affect tool orientation.

Axis configuration in the NC channel

Axis identifier

X, Y, Z, B, A, CV

Axis index

0, 1, 2, 3, 4, 5

Kinematic structure

 

Tool axes

Workpiece axes

NC axes

X, Y, Z, B, A, CV

-

Axis configuration of 5-axis machine
Axis configuration of 5-axis machine
Tool head parameters
Tool head parameters

Offset data of kinematics:

HD offset

param[i]

Description

Unit

HD1

0

Z offset to tool holding device

10 E-4 mm

HD2

1

X offset

10 E-4 mm

HD3

2

Y offset

10 E-4 mm

HD4

3

Z offset

10 E-4 mm

HD5

4

X offset

10 E-4 mm

HD6

5

Y axis offset to tool

10 E-4 mm

HD7

6

Rotary offset A axis

10 E-4°

HD8

7

Rotary offset B axis

10 E-4°

HD9

8

Sign for direction of rotation A axis

[ - ]

HD10

9

Sign for direction of rotation B axis

[ - ]

HD14

13

Rotary offset about Z (head position)

10 E-4°

Angular offset of rotary/swivel head
Angular offset of rotary/swivel head

The CV axis is not a physical real axis existing in the kinematic structure. The CV axis executes a rotation of the tool direction vector about Z, i.e. the angles A and B are calculated depending on CV. One application can be the perpendicular alignment of one component of the XY tool direction to the programmed contour. This axis must therefore be configured as a simulation axis and can then be addressed in the NC program as usual.

The permitted angle range of the A and B axes is in the range of +- 90 degrees.