G-FUNCTIONS

23.7.3 Kinematic model

The control needs a kinematic model of the machine in order to reset the programmed local
coordinates in the oblique plane to the movements of the machine axes. A kinematic model describes
the "construction" of the axes and the exact position of the different turning points on the rotary axes.

As an example, a kinematic model of the DMU 50 V machine is shown.The kinematic model is made
up of a chain stretching from the work piece to the machine frame. It is not necessary to describe the
chain from the workpiece to the machine frame, because it includes no rotary axes.

Kinematic model for the DMU 50 V

Explanation of the drawing:

-1,2,3 three elements in the X, Y, and Z directions in order to fix the (absolute) centre
position of the workpiece table with reference to the marker positions.
-4 element for definition of the C axis.
It is only necessary to describe the rotating axis of a rotary axis, not the centre point.
-5,6 two elements in order to obtain the rotating axis of the second (incremental) rotary
axis.
-7 element for definition of the (incremental) direction of the second rotating axis. This
direction is -45° in the A axis (all around the X axis).
-8 element for definition of the B axis.
-9 element in order to raise the -45° tilt (Element 7) again. In this way, the kinematic
chain ends without rotation.

The kinematic model is entered by means of the machine settings MC600 to MC699.

To determine the connection between the operating planes and the positions of the axes, the stacking
and the exact position of the different rotating points of the rotary axes are needed. A description of
this stacking is called the kinematic model. The kinematic model is defined in the form of two "chains".
One chain defines the axis stacking of the tool as far as the machine frame, the other chain from the
workpiece to the machine frame. In this way, it is only necessary to describe a chain if it contains
rotary axes.
A kinematic chain defines, by means of displacements and tiltings, the way in which the rotary axes lie
with respect to one another. Every displacement or tilting is determined as an element of the

270 Heidenhain