KINEMATICS5-axis machine configurations
A 5-axis machine falls into one of three types depending on whether the two rotary axes are on the spindle head (tool) side or the table (workpiece) side. The type affects which workpieces suit it, what it does best, and the NC settings.
⟲The three configurations
Schematic. JIS B 6336-6 (ISO 10791-6) specifies motion tests for 5-axis machines for each of these three configurations in Annexes A, B and C.
Head-head type (two rotary axes on the spindle head side)
head-head kinematics / two rotary axes in the head / swivel head (Siemens: type T) / head rotation type (FANUC)
Advantages
- Because the workpiece is not rotated, it suits large, heavy workpieces (e.g., large dies for automotive parts).One source / reference[24]
Drawbacks / cautions
- When the tool orientation changes, the longer the tool, the larger the linear-axis compensating motion (it is sensitive to tool length). Tool center point control is required.One source / reference[1]
Example models of this configuration
| Maker | Model | Configuration |
|---|---|---|
| Makino | V80S / V90S / V100S | 5-axis machine that swivels the spindle with a newly developed A axis (tilt) / C axis (rotation)[24] |
Accuracy test category: ISO 10791-6 test category AK (Renishaw's description) / JIS B 6336-6 Annex A[14][3]
Table-table type (trunnion, tilt-rotary table)
table-table kinematics / trunnion table / swivel rotary table / tilt-rotary table / swivel table (Siemens: type P) / table rotation type (FANUC)
Advantages
Example models of this configuration
| Maker | Model | Configuration |
|---|---|---|
| Okuma | MU-4000V (vertical) | Trunnion table. B axis (roller gear cam) + C axis (direct drive)[17] |
| Okuma | MU-V series (MU-5000V etc.) | Trunnion table supported at both ends (A/C axes)[25] |
| Okuma | MU-10000H (horizontal) | Trunnion table. A axis (table swing) + B axis (pallet rotation)[23] |
| Yamazaki Mazak | VARIAXIS C | Tilt-rotary table supported at both ends. B and C axes both driven by roller gear cams[16] |
| Makino | D200Z / D300 / D500 (vertical) | 5-axis machines with the rotary axes built into the table side. The D200Z has B and C axes; the D300 has a trunnion structure with A and C axes[24] |
| Makino | a500iR / a500Z / a630iT (horizontal) | Horizontal machining centers with a tilting table (a500iR: tilt axis B + rotary axis C; a630iT: trunnion table)[26] |
| Nidec OKK | VB-X350 (vertical) | Gantry structure. B axis (pallet tilt) + C axis (pallet swivel); both the tilt and rotary axes are direct drive[22] |
| DMG MORI | DMU 50 3rd Generation | Simultaneous 5-axis with a B-axis swivel rotary table[27] |
| Hermle | C 42 | Swivelling rotary table. An MT version with turning is also available[28] |
| GROB | G350 | Horizontal spindle + tilt-rotary table (A-axis swivel and B-axis rotation). A-axis-only and B-axis-only versions are also available[29] |
| Haas | UMC series | Trunnion rotary table (B and C axes). The control holds the MRZP (center of rotation of the rotary axes)[9][8] |
Accuracy test category: ISO 10791-6 test category BK (Renishaw) / JIS B 6336-6 Annex B[14][3]
Head-table type (mixed type: one axis on the spindle head and one on the table)
head-table kinematics / mixed kinematics / swivel head + swivel table (Siemens: type M) / mixed type (FANUC)
Advantages
- Because the table is not tilted, some models can also be used for long workpieces on a long table or for multi-part setups.One source / reference[30]
Drawbacks / cautions
No drawbacks confirmed in the sources yet.
Example models of this configuration
| Maker | Model | Configuration |
|---|---|---|
| Yamazaki Mazak | VTC-800/30SR | B-axis swivel head with a ±110° swivel range + (optional) NC rotary table. A rotary table is required for simultaneous 5-axis[30] |
| Yamazaki Mazak | VORTEX i-V | B axis (150° swivel range) + C-axis NC rotary table. Both are driven by roller gear cams[31] |
Accuracy test category: ISO 10791-6 test category CK (Renishaw) / JIS B 6336-6 Annex C[14][3]
∠Examples of swivel range
Examples to illustrate the configurations. The values are the makers' published figures listed as they are; this is not a comparison or a recommendation.
| Maker | Model | Swivel range |
|---|---|---|
| Okuma | MU-4000V | B axis +90 to −120°, C axis 360° (continuous rotation)[17] |
| Okuma | MU-10000H | A axis +35 to −115°, B axis 360°[23] |
| Nidec OKK | VB-X350 | B axis −30 to +120°, C axis 360°[22] |
| Makino | a500iR | Tilt axis B −110 to +180°, rotary axis C 360°[26] |
| DMG MORI | DMU 50 3rd Generation | B axis −35 to +110°[27] |
| GROB | G350 | A axis 230°, B axis 360°[29] |
| Yamazaki Mazak | VTC-800/30SR | B-axis swivel head ±110° (220°)[30] |
| Yamazaki Mazak | VORTEX i-V | B axis 150°[31] |
For models by maker, go toMachine tool makers.
↻Names and directions of the rotary axes
- A positive rotation is counterclockwise as seen from the + side of the corresponding linear axis (the direction a right-hand screw advances in the + direction = the direction the fingers curl when the right thumb points in the + direction).One source / reference[21]
- The direction of rotation is defined as seen from the workpiece. On machines where the table carrying the workpiece rotates, to make the workpiece turn counterclockwise (+) as seen from the workpiece, the table often has to be turned clockwise as seen by a person standing beside the machine.One source / reference[21]
- Whether a tilt axis is called A or B depends on which linear axis it is parallel to, and differs by machine. For example, among Nidec OKK's vertical 5-axis machines, the VB-X350 has a B axis (pallet tilt) + C axis. The Okuma MU-4000V has B + C axes, the Okuma MU-10000H (horizontal) has an A axis (table swing) + B axis (pallet rotation), the Makino D300 has A + C axes, and the Makino D200Z has B + C axes.[22][17][23][24]
- U, V, W are second linear axes parallel to X, Y, Z.One source / reference[13]
Governing standards
- ISO 841:2001 Industrial automation systems and integration — Numerical control of machines — Coordinate system and motion nomenclature. Coordinates are defined by treating the tool as moving relative to a stationary workpiece (so you can program without considering whether the tool or the workpiece actually moves).One source / reference[19]
- JIS B 6310:2003 ‘Industrial automation systems and integration — Numerical control of machines — Coordinate system and motion nomenclature’ is identical (IDT) to ISO 841:2001. Its table of contents includes 4.6 Rotary axes, 5.2 Direction of motion, 6.2 Rotary motion, and Annex A (normative) Examples of machine motion. Reaffirmed in 2008.One source / reference[20]
⊥Vertical vs. horizontal, and add-on rotary tables
- Examples of horizontal 5-axis machines: Okuma MU-10000H (A-axis table swing + B-axis pallet rotation), Makino a500iR/a630iT (pallet + tilting table), GROB G350 (horizontal spindle + tilt-rotary table). GROB explains that a horizontal spindle allows a longer Z stroke and lets chips fall away more easily.[23][26][29]
- A rotary axis that is not orthogonal to the linear axes (tilted at, e.g., 45°) is called a nutated axis. It exists on both the head side and the table side.One source / reference[1]
- You can also add rotary axes by mounting an NC rotary table on a 3-axis vertical machine. The FANUC ROBODRILL has direct-drive rotary tables DDRiB / DDR-TiB (indexing accuracy ±10 arc-seconds) and the DDR-HSiB for turning (two versions: horizontal-axis mounting and C-axis mounting).One source / reference[33]
⊕How they differ from multitasking machines
- A multitasking machine puts a milling spindle on a lathe (turning spindle) base and does turning, milling and simultaneous 5-axis machining on one machine. FANUC lists ‘machining-center-based 5-axis machines’ and ‘lathe-based multitasking machines’ as the two market streams, and says a multitasking machine in which both the workpiece axis and the tool axis rotate can be treated as a mixed type.[6][32]
- Turning, simultaneous 5-axis machining and even grinding can be done in a single setup (grinding package)One source / reference[32]
- The product categories listed are ‘5-axis vertical machining center MX,’ ‘5-axis multitasking machining center MX-T,’ ‘5-axis vertical and horizontal machining center MAM72,’ and ‘5-axis multitasking machining center CUBLEX.’One source / reference[34]
◎Each maker's kinematics calibration function
A function that measures and corrects the offset of the rotary axis centers. For details, seeCalibration, collision, workholding and tools.
| Maker | Function | Description |
|---|---|---|
| Okuma | 5-axis auto-tuning system (Five Tuning) | Measures geometric errors around the rotary axes (up to 11 types) with a touch probe and reference sphere and corrects them automatically. The result works regardless of whether tool center point control is on or off or of the operating mode[25][23] |
| Yamazaki Mazak | MAZACHECK (5-axis high-accuracy tuning function) | Using a reference sphere, touch sensor and measuring macros, calibrates by measuring the distance (X, Y) from the mill spindle center to the table swivel center, the offset between the B-axis swivel center and the mill spindle center, and the offset between the B-axis swivel center and the mill spindle face[31] |
| DMG MORI | 3D quickSET | Checking and correcting the kinematics accuracy of 4- and 5-axis machines (all combinations of head and table axes)[35] |
| FANUC | Rotary axis center position measuring cycle for 5-axis machines | Measures the center positions of rotary axes with a probe and reference sphere and automatically reflects the result in the machine configuration parameters. Supports all configurations: table rotation, tool rotation and mixed[36] |
Other 5-axis machining pages
◇
5-axis machining basics
The difference between 3+2 and simultaneous 5-axis machining, the advantages of 5 axes, and terminology.
G5-axis NC functions
Tool center point control, tilted working plane commands, and 3D tool radius compensation. A comparison of commands by NC maker, G93 inverse time feed, tool length and the center of rotation.
◎Calibration, collision, workholding and tools
Kinematics calibration with a reference sphere, accuracy test standards, collision checking and simulation, 5-axis vises, tool stick-out and how to tilt a ball end mill.
!Common 5-axis mistakes
Singularities, the two solutions of a rotary axis and the long way around, feed units, forgotten tool length, and forgetting to cancel a tilted plane. A checklist to verify on the shop floor.
÷5-axis calculations
F value for G93 inverse time feed, ball end mill tilt angle, angles from a direction vector, and the shortest way for a rotary axis to turn.
⌗CAD/CAM
CAM workflow, toolpaths, a list of software, and data formats.
📚Sources
Machine configurations and swivel ranges are as published on each maker's product page. This is not a comparison or a recommendation. Check each maker's documents for the latest specifications.
- Siemens AG, “Milling with SINUMERIK — 5-axis machining Manual, Edition 05/2009 (DocOrderNo. 6FC5095-0AB10-0BP1)”
- Siemens AG, “SINUMERIK live: Programming dynamic 5-axis machining directly in SINUMERIK Operate (2018)”
- Japanese Standards Association (JSA), “JIS B 6336-6:2018 Test conditions for machining centres — Part 6: Accuracy of feeds, speeds and interpolations (ISO 10791-6:2014), preview”
- Siemens AG, “SINUMERIK live: Multi-face machining milling (3+2 axes) (2017)”
- FANUC America Corporation, “5-Axis Machining — CNC systems for high-performance machine tools (MBA-025-EN_03_1308, 2013)”
- Fuji Technology Press (author: Masako Sudo, FANUC Corporation), “Development Report: Advanced Control Technologies for 5-Axis Machining, Int. J. of Automation Technology Vol.1 No.2, pp.108-112, 2007 (DOI 10.20965/ijat.2007.p0108, CC BY-ND 4.0)”
- Mitsubishi Electric Corporation, Naoki Nakamura, “Improved usability of indexed machining on the ‘MITSUBISHI CNC M700V Series’,” Mitsubishi Denki Giho Vol.85 No.4 (2011)
- Haas Automation, Inc., “G254 Dynamic Work Offset (DWO) (G-code reference page)”
- Haas Automation, Inc., “G234 Tool Center Point Control (TCPC) (G-code reference page)”
- Okuma Corporation, “MCR-A5C II product information (5-face gantry machining center)”
- Haas Automation, Inc., “G268 / G269 Feature Coordinate System (G-code reference page)”
- Mitsubishi Electric Corporation, “NC Specification Selection Guide M800V/M80V/E80/C80 Series (BNP-A1244 ENG D)”
- DR. JOHANNES HEIDENHAIN GmbH, “TNC 640 User's Manual Conversational Programming, NC Software 340590-01 / 340591-01 / 340594-01, 4/2012 (892903-20)”
- Renishaw plc「Application note: ISO 10791-6 using QC20 ballbar」
- Hokkaido University, Makoto Yamada, “A Study on Spindle-Tilting Machining with a 5-Axis NC Machine Tool,” abstract of doctoral dissertation (Engineering) (2006)
- Yamazaki Mazak Corporation, “5-axis machine VARIAXIS C product information”
- Okuma Corporation, “MU-4000V product information”
- Kanagawa Institute of Industrial Science and Technology (KISTEC), Tomohiro Yokota, “A Study of Machined Surface Quality in Ball End Milling,” KISTEC Research Report 2020
- ISO, “ISO 841:2001 Industrial automation systems and integration — Numerical control of machines — Coordinate system and motion nomenclature (standard introduction page)”
- Japanese Standards Association (JSA), “JIS B 6310:2003 Industrial automation systems and integration — Numerical control of machines — Coordinate system and motion nomenclature (ISO 841:2001), preview”
- National Institute of Standards and Technology (NIST), “The NIST RS274NGC Interpreter – Version 3 (NISTIR 6556, 2000)”
- Nidec Corporation / Nidec OKK Corporation, “Launch of the VB-X350 5-axis vertical machining center from our subsidiary (October 6, 2023)”
- Okuma Corporation, “MU-10000H product information”
- Makino, “5-axis vertical machining centers (product list)”
- Okuma America Corporation (Okuma), “MU-V Series 5-Axis Vertical Machining Centers catalog”
- Makino, “5-axis horizontal machining centers (product list)”
- DMG MORI (US site), “DMU 50 3rd Generation product page”
- Maschinenfabrik Berthold Hermle AG「The milling and turning centre – C 42 / C 42 MT」
- GROB-WERKE GmbH & Co. KG「Universal machining center G350」
- Yamazaki Mazak Corporation, “5-axis machine VTC-800/30 product information”
- Yamazaki Mazak Corporation, “5-axis machine VORTEX i-V product information”
- Yamazaki Mazak Corporation, “INTEGREX i-H multitasking machine product information”
- FANUC Corporation, “FANUC ROBODRILL DDRiB / DDR-TiB / DDR-HSiB product page”
- Matsuura, “5-axis vertical and horizontal machining centers MAM72 series (category list on the product introduction page)”
- DMG MORI (US site), “DMU 65 (FD) monoBLOCK 2nd Generation product page (description of 3D quickSET)”
- FANUC Corporation, “FANUC Series 30i/31i/32i-MODEL B Plus catalog (English edition FS30i-BPlus(E)-01)”