MILLTURN(9) Manual Page

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.

The kinematics-type switching, the kinstype.is-N pins and the joints-to-coordinates mapping are provided by switchkins.c, so the coordinates= module parameter and the kinematics switching described in the switchkins document chapter apply here too.

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.

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)

David Mueller

GPL