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.\" This file was extracted from hal/components/xyzab_tdr_kins.comp using halcompile.g.
.\" Modify the source file.
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.TH XYZAB_TDR_KINS "9" "2023-02-10" "LinuxCNC Documentation" "HAL Component"
.SH NAME

xyzab_tdr_kins \- Switchable kinematics for 5 axis machine with rotary table A and B
.SH SYNOPSIS
.HP
.B loadrt xyzab_tdr_kins [count=\fIN\fB|names=\fIname1\fB[,\fIname2...\fB]]
.SH 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)

.if \n[.g] .mso www.tmac

.SH PINS
.TP
.B xyzab-tdr-kins.\fIN\fB.dummy\fR s32 out \fR(default: \fI0\fR)
one pin needed to satisfy halcompile requirement
.SH AUTHOR

David Mueller
.SH LICENSE

GPL