KIN_TYP_76 – 5-axis kinematics with MTCP oblique tool head

Kinematic structure

The kinematic structure consists of 3 translatory and 2 rotary NC axes in the tool. The A and B axes are arranged about the Y axis at an angle!= 90 degrees. Due to the design structure the TCP is mechanically compensated (MTCP). As required, a tool length can also be set but this leads to compensation motions in the Cartesian axes.

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,A,B

-

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

1.0 E-4 mm

HD6

5

Angle offset between Cartesian MCS and cutting head CS

1.0 E-4°

HD7

6

Angle between A axis and Z axis

1.0 E-4°

HD8

7

X offset MTCP to machine origin

1.0 E-4 mm

HD9

8

Y offset MTCP to machine origin

1.0 E-4 mm

HD10

9

Z offset MTCP to machine origin

1.0 E-4 mm

Tool orientation is programmed using rotation angles C and A with a rotation sequence in the listed sequence. With HD6 = 65 degrees the maximum angle position is in range of +-60 degrees.

Angle offset of bevel head with regard to mounting
Angle offset of bevel head with regard to mounting

The orientation of the bevel head with regard to the Cartesian machine coordinate system can be set with parameter HD6.