---
name: "millturn"
section: "9"
platform: "linux"
package: "linuxcnc-uspace"
version: "1:2.9.4-2+deb13u1"
release: "Debian 13 (Trixie)"
platforms: ["linux"]
url: "https://new.carta.tech/millturn/9"
---

# millturn(9)

Switchable kinematics for a mill-turn machine

## 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