NAME

       millturn - Switchable kinematics for a mill-turn machine

SYNOPSIS

       loadrt millturn [count=N|names=name1[,name2...]]

DESCRIPTION

       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.

       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'.

       millturn.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)

FUNCTIONS

       millturn.N.fdemo (requires a floating-point thread)

PINS

       millturn.N.fpin s32 out (default: 0)
              pin to demonstrate use of a conventional (non-kinematics) function fdemo

AUTHOR

       David Mueller

LICENSE

       GPL