Description Of The Kinematics Configuration - HEIDENHAIN iTNC 530 HSCI Technical Manual

6.5.2 Description of the kinematics configuration

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Note
The description of the kinematics is only taken into account for tilting
functions, such as TCPM or the Tilt Working Plane function.
The kinematics description consists of a transformation chain, starting from
the tool reference point, to the swivel head, the linear axes and the tilting
table, up to the center of the rotary table.
Seen as a whole, the new kinematics description defines one transformation
chain, consisting of
fixed lengths (machine dimensions)

variable lengths (linear axes)

fixed rotations (machine conditions)

variable rotations (rotary axes)

starting from the tool reference point (e.g. spindle housing, swivel head,
machine base, linear axes, machine frame, tilting table, rotary table). Each
translation is described.
The difference to the previous kinematics description is that here, no coding
is specified for the head or table rotary axes, or for the "ref. coordinates." This
means that the sequence and algebraic signs of the table elements are
reversed compared to the old description.
The following machine equation results for a closed transformation chain (tool
reference point is at the center point of the rotary table):
T + T + T - T
Head Table New
=>
T = T - T - T
New Ref Head Table
: Translation for swivel head
T
Head
T : Translation for tilting table (algebraic sign according to the new
Table
kinematics description)
T : New translation (sum of the remaining translations after the tilting head
New
to before the rotary table)
T : "Ref. coordinates" (previous description of the center point of the rotary
Ref
table)
= 0
Ref
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