xyzab_tdr_kins - Switchable kinematics for 5 axis machine with rotary table A
and B
loadrt
xyzab_tdr_kins [count=
N|names=name1[,name2... ]]
This is a switchable kinematics module for a 5-axis milling configuration using
3 cartesian linear joints (XYZ) and 2 rotary table joints (AB).
The module contains two kinematic models:
type0 (default) is a trivial XYZAB configuration with joints 0..4 mapped to axes
XYZAB respectively.
type1 is a XYZAB configuration with tool center point (TCP) compensation.
For an example configuration, run the sim config:
'/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini'.
Further explanations can be found in the README in
'/configs/sim/axis/vismach/5axis/table-dual-rotary/'.
xyzab_tdr_kins.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)
- xyzab-tdr-kins.N.dummy s32 out (default:
0)
- one pin needed to satisfy halcompile requirement
David Mueller
GPL