millturn - Switchable kinematics for a mill-turn machine
loadrt
millturn [count=
N|names=name1[,name2...]]
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)
-
millturn.N.fdemo (requires a
floating-point thread)
-
- millturn.N.fpin s32 out (default:
0)
- pin to demonstrate use of a conventional (non-kinematics)
function fdemo
David Mueller
GPL