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.TH MILLTURN "9" "2023-02-10" "LinuxCNC Documentation" "HAL Component"
.SH NAME

millturn \- Switchable kinematics for a mill-turn machine
.SH SYNOPSIS
.HP
.B loadrt millturn [count=\fIN\fB|names=\fIname1\fB[,\fIname2...\fB]]
.SH DESCRIPTION


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

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)


.SH FUNCTIONS
.TP
\fBmillturn.\fIN\fB.fdemo\fR (requires a floating-point thread)

.SH PINS
.TP
.B millturn.\fIN\fB.fpin\fR s32 out \fR(default: \fI0\fR)
pin to demonstrate use of a conventional (non-kinematics) function fdemo
.SH AUTHOR

David Mueller
.SH LICENSE

GPL