XYZAB_TDR_KINS(9)

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)

David Mueller

GPL