KIN_TYP_81 – 5-axis kinematics with B/A workpiece table

Kinematic structure

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

Axis configuration in the NC channel

Axis identifier

X, Y, Z, B, A

Axis index

0, 1, 2, 3, 4

Kinematic structure

 

Tool axes

Workpiece axes

NC axes

X, Y, Z

B, A

Axis configuration of 5-axis machine
Axis configuration of 5-axis machine
Offsets of tool head
Offsets of tool head
Offsets of workpiece holder
Offsets of workpiece holder
Ideal and real Z zero position
Ideal and real Z zero position

In the ideal zero position of the kinematic structure, the rotary axis B in the workpiece and the reference point on the tool slide (here tool holding device) intersect at one point. The machine axis positions of the tool slide are then 0 in this position. In general these axis positions cannot be approached with a machine. The offsets to this position at tool slide position 0 can be set with parameters HD10, HD11, HD12.

Offset data of kinematics

HD offset

param[i]

Description

Unit

HD1

0

Z offset reference point Tool slide to tool holding device

10 E-4 mm

HD2

1

X offset reference point Tool slide to tool holding device

10 E-4 mm

HD3

2

Y offset reference point Tool slide to tool holding device

10 E-4 mm

HD4

3

X axis offset rotary axis B to rotary axis A

10 E-4 mm

HD5

4

Y axis offset rotary axis B to rotary axis A

10 E-4 mm

HD6

5

Z axis offset rotary axis B to rotary axis A

10 E-4 mm

HD7

6

X axis offset rotary axis A to origin WCS

10 E-4 mm

HD8

7

Y axis offset rotary axis A to origin WCS

10 E-4 mm

HD9

8

Z axis offset rotary axis A to origin WCS

10 E-4 mm

HD10

9

X offset to machine origin MNP

10 E-4 mm

HD11

10

Y offset to machine origin MNP

10 E-4 mm

HD12

11

Z offset to machine origin MNP

10 E-4 mm

HD13

12

Rotary offset B axis

10 E-4°

HD14

13

Rotary offset A axis

10 E-4°

HD15

14

Rotation direction flag B axis

[ - ]

HD16

15

Rotation direction flag A axis

[ - ]