XYZAB_TDR_KINS(9)

✨ xyzab_tdr_kins(9) — HAL Component ✨

okay bestie, sit down, hydrate, because we're talking about <pink>xyzab_tdr_kins</pink> 🎀 — that's the section 9 (kernel/HAL component, iykyk) manual page for a Switchable kinematics module for a 5 axis machine with rotary table A and B. she's giving motion-control main character energy and we're obsessed 💅

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🌸 NAME 🌸

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

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🦋 SYNOPSIS 🦋

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

yes that's the whole vibe. load it, name it, count it 💖

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👑 DESCRIPTION 👑

so this is a switchable kinematics module for a 5-axis milling configuration, and the way she works is: 3 cartesian linear joints (XYZ) plus 2 rotary table joints (AB). that's the whole squad 🫶

the module contains two kinematic models:

• type0 (the default, the moment, the it-girl) is a trivial XYZAB configuration with joints 0..4 mapped to axes XYZAB respectively. no drama, just vibes.
• type1 is a XYZAB configuration with tool center point (TCP) compensation. she's doing the work 💅

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🌈 example config, run it bestie

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/

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🧚 about the source file, lore drop

xyzab_tdr_kins.comp was constructed by modifying the template file: userkins.comp. she was literally built different (she was built from a template, same thing 💀).

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). go read, it's giving educational slay 📚✨

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💖 PINS 💖

• xyzab-tdr-kins.N.dummy — s32 out (default: 0) — one pin needed to satisfy halcompile requirement. literally just one lil pin, she's there to keep the compiler happy and honestly? relatable 😭

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🎀 AUTHOR 🎀

David Mueller 💜

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⭐ LICENSE ⭐

GPL

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no cap, that's the entire page. every pin, every path, every model, accounted for. periodt 🦋

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this iconic lil page came to you straight from the LinuxCNC Documentation, dated 2026-03-17 — stay switchable, stay slay 💅🌈⭐