---
name: "xyzab_tdr_kins"
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/xyzab_tdr_kins"
---

# xyzab\_tdr\_kins(9)

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

## 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