MILLTURN(9)

NAME
millturn - Switchable kinematics for a mill-turn machine

SYNOPSIS

loadrt millturn [count=N|names=name1[,name2...]]

DESCRIPTION

This is a switchable kinematics module using 3 cartesian linear joints (XYZ) and 1 angular joint (A). The module contains two kinematic models:

type0 (default) is a mill (XYZA) configuration with A being a rotary axis.

type1 is a turn (Z-YX) configuration with A configured to be a spindle.

For an example configuration, run the sim config: configs/sim/axis/vismach/millturn/millturn.ini.

Further explanations can be found in the README in configs/sim/axis/vismach/millturn.

millturn.comp was constructed by modifying the template file: userkins.comp.

For more information on how to modify userkins.comp run: $ man userkins. Also, see additional information inside: userkins.comp.

For information on kinematics in general see the kinematics document chapter (docs/src/motion/kinematics.txt) and for switchable kinematics in particular see the switchkins document chapter (docs/src/motion/switchkins.txt)

FUNCTIONS

millturn.N.fdemo (requires a floating-point thread)

PINS

millturn.N.fpin s32 out (default: 0)
    pin to demonstrate use of a conventional (non-kinematics) function fdemo

AUTHOR

David Mueller

LICENSE

GPL