XYZAB_TDR_KINS(9) Manual Page

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.

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/5axis/table-dual-rotary/xyzab-tdr.ini.

Further explanations can be found in the README in /configs/sim/axis/vismach/5axis/table-dual-rotary/.

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