millturn usage:

For additional information see the README in the millturn folder.

1) startup (after homing) the simulation is in mill mode as configured in millturn.ini (mm-based) with 3 cartesian linear joints (XYZ) and 1 rotary joint (A).

2) pyvcp buttons are provided to switch between mill and turn kinematics. The buttons issue remapped commands M428,M429.

These commands
a) select the kinematics with G12.1, which synchronizes interpreter and motion itself.
b) set softlimits according to values set in millturn.ini [AXIS_X] and [AXIS_Z] section.

3) when set for mill, default assignments are:

   x : joint0
   y : joint1
   z : joint2
   a : joint3

so the gcode commands:
   'g0x10' moves joint0
   'g0z10' moves joint2

4) when set for turn, assignments are:

   x :  joint2
   y : -joint1
   z :  joint0
   a :  joint3

so the gcode commands:
   'g0x10' moves joint2
   'g0z10' moves joint0
