NAME

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

SYNOPSIS

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

DESCRIPTION

       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)

PINS

       xyzab-tdr-kins.N.dummy s32 out (default: 0)
              one pin needed to satisfy halcompile requirement

AUTHOR

       David Mueller

LICENSE

       GPL