MILLTURN(9)

💖 MILLTURN(9) — the HAL component that's literally two machines in a trench coat 💖

okay bestie, sit down, grab a boba, because this one is kinda iconic. it's a HAL component called millturn and it does switchable kinematics for a mill-turn machine ✨ like, one second it's milling, next second it's turning, and it's not even dramatic about it. main character energy fr fr 🎀

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✨ SYNOPSIS ✨

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

that's it. that's the whole summoning ritual 💅

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🌸 DESCRIPTION 🌸

so here's the tea ☕ — this is a switchable kinematics module that uses 3 cartesian linear joints (XYZ) plus 1 angular joint (A). and inside this one little module there are two whole kinematic models living their best lives:

• type0 — and this is the default btw, no cap — is a mill (XYZA) configuration where A is a rotary axis. classic mill behavior, slay.
• type1 is a turn (Z-YX) configuration where A is configured to be a spindle. yes bestie, the A axis literally switches careers. career change queen 👑

wanna see it in action? run the sim config, it's giving demo:

configs/sim/axis/vismach/millturn/millturn.ini

and if you want even more explanation (because of course you do, curious little genius), there's a README in:

configs/sim/axis/vismach/millturn

also!! fun origin story 🫶 — millturn.comp was constructed by modifying the template file:

userkins.comp

so if you ever wanna know how to modify userkins.comp yourself, just run:

$ man userkins

and there's extra info hiding inside userkins.comp too, so peek inside it, i'm not kidding 🙈

and for the big-brain background stuff: if you want info on kinematics in general, go read the kinematics document chapter at docs/src/motion/kinematics.txt. and if you specifically want the switchable kinematics lore, that's the switchkins document chapter at docs/src/motion/switchkins.txt. academic baddie behavior honestly 📚💖

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🔥 FUNCTIONS 🔥

• millturn.N.fdemo — ⚠️ requires a floating-point thread, so don't try to run it on anything else, it will simply not vibe. periodt.

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🦋 PINS 🦋

• millturn.N.fpin s32 out (default: 0) — this pin exists to demonstrate use of a conventional (non-kinematics) function fdemo. it's a little demo pin. a show pony. we love it anyway 💅

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👑 AUTHOR 👑

David Mueller — thank you for your service, king 🫶

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🌈 LICENSE 🌈

GPL — free as in freedom, bestie, go wild, just keep it open ✨

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and that's the whole page, babe! this beauty is part of the LinuxCNC Documentation, stamped 2026-03-17, and it lives at section MILLTURN(9). go forth and switch those kinematics, you absolute icon 🌸💖🎀