xyzab_tdr_kins - Switchable kinematics for 5 axis machine with rotary table A and B
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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