KIN_TYP_208 – 4-axis robot on linear unit

Kinematic structure

The Kinematic Structure consists of a linear unit that carries a four-axis robot.

Axis configuration in the NC channel

Axis identifier

X, Y, Z, C, A, (A1, A2, A3, A4, A5,)

Axis index

0, 1, 2, 3, 4

Kinematic structure

 

Tool axes

Workpiece axes

NC axes

X, Y, Z, C, A,

-

4-axis robot on linear unit
4-axis robot on linear unit

Axis configuration

The axis configuration below is recommended.

Axis name

Axis type (P-AXIS-00018)

Axis mode (P-AXIS-00015)

A1

Linear

Linear

A2

Rotation

Linear

A3

Rotation

Linear

A4

Rotation

Linear, modulo range -180° to 180°

A5

Rotation

Linear, modulo range -180° to 180°

Notice

notice

Software limit switches can be configured for axes with linear axis mode to reduce the risk of collisions,

The position of the axes in space is described in the zero position of the machine. A mount point is specified in the Machine Coordinate System for each rotary axis.

There is a length and angle offset for each axis.

Example of a zero position
Example of a zero position

Offset data of kinematics

HD offset

param[i]

Description

Unit

HD1

0

Tool offset in X direction

10 E-4 mm

HD2

1

Tool offset in Y direction

10 E-4 mm

HD3

2

Tool offset in Z direction

10 E-4 mm

HD4

3

Tool rotation about the Z’ axis

10 E-4°

HD5

4

Tool rotation about the Y’ axis

10 E-4°

HD6

5

Tool rotation about the X’ axis

10 E-4°

HD7-HD9

6-8

-

 

HD10

9

Deviation of A1 in XZ plane

10 E-4°

HD11

10

Deviation of A1 in XY plane

10 E-4°

HD12

11

Length offset for A1

10 E-4 mm

HD13

12

X coordinate of mount point of A2

10 E-4 mm

HD14

13

Y coordinate of mount point of A2

10 E-4 mm

HD15

14

Z coordinate of mount point of A2

10 E-4 mm

HD16

15

Deviation of A2 in XZ plane

10 E-4°

HD17

16

Deviation of A2 in XY plane

10 E-4°

HD18

17

Angle offset for A2

10 E-4°

HD19

18

X coordinate of mount point of A3

10 E-4 mm

HD20

19

Y coordinate of mount point of A3

10 E-4 mm

HD21

20

Z coordinate of mount point of A3

10 E-4 mm

HD22

21

Deviation of A3 in XZ plane

10 E-4°

HD23

22

Deviation of A3 in XY plane

10 E-4°

HD24

23

Angle offset for A3

10 E-4°

HD25

24

X coordinate of mount point of A4

10 E-4 mm

HD26

25

Y coordinate of mount point of A4

10 E-4 mm

HD27

26

Z coordinate of mount point of A4

10 E-4 mm

HD28

27

Deviation of A4 in XZ plane

10 E-4°

HD29

28

Deviation of A4 in XY plane

10 E-4°

HD30

29

Angle offset for A4

10 E-4°

HD31

30

X coordinate of mount point of A5

10 E-4 mm

HD32

31

Y coordinate of mount point of A5

10 E-4 mm

HD33

32

Z coordinate of mount point of A5

10 E-4 mm

HD34

33

Deviation of A5 in YZ plane

10 E-4°

HD35

34

Deviation of A5 in XY plane

10 E-4°

HD36

35

Angle offset for A5

10 E-4°

Tool offset data of the kinematic

The parameters HD1 to HD6 are available for a tool flanged onto axis A5.

Notice

notice

If a tool length is active (`V.G.WZ_AKT.L`.), it is added to `HD3`.

Use of coordinate systems (#CS command)

If a coordinate system (#CS command) is used, the channel parameter P-CHAN-00247 must be set to 1.

If P-CHAN-00247 is not set, the #CS command has no effect.