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configs/sim/axis/rose_engine/README

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+rose_engine.ini: rose engine demo
+
+Demonstrates a rose engine kinematics
+
+(man 9 rosekins)
+
+joint_0 linear, transverse
+joint_1 linear, longitudinal
+joint_2 rotary, spindle (cumalative angle)
+

configs/sim/axis/rose_engine/rcone.ngc

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+o<rcone> sub
+   #<rmax>   = #1 (= 10)
+   #<rmin>   = #2 (=  1)
+    #<del_r> = #3 (=  0.001)
+    #<del_z> = #4 (= -0.001)
+#<del_theta> = #5 (= +1 1:CCW -1:CW)
+    #<frate> = #6 (=100)
+
+#<r> = #<rmax>
+#<z> = 0
+#<theta> = 0
+
+f #<frate>
+
+g0 x#<r> y0
+o<10wh> while [#<r> gt #<rmin>]
+         #<r> = [#<r> - #<del_r>]
+         #<theta> = [#<theta> + #<del_theta>]
+         #<x> = [#<r> * cos[#<theta>]]
+         #<y> = [#<r> * sin[#<theta>]]
+         #<z> = [#<z> + #<del_z>]
+         ;#<x> = [#<rmax> * cos[#<theta>]]
+         ;#<y> = [#<rmax> * sin[#<theta>]]
+         ;#<z> = [0 + #<del_z>]
+         g1 x#<x> y#<y> z#<z>
+o<10wh> endwhile
+o<rcone> endsub

configs/sim/axis/rose_engine/rcone_demo.ngc

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+f1000
+#<v> = 10
+g0 x  #<v> y   0    z 0
+g1 x  #<v> y  #<v>
+g1 x -#<v> y  #<v>
+g1 x -#<v> y -#<v>
+g1 x  #<v> y -#<v>
+g1 x  #<v> y   0
+g0                  z 0
+o<rcone> call [#<v>][1][0.001][-0.001][+1][100]
+m2

configs/sim/axis/rose_engine/rose_engine.halshow

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+pin+joint.0.motor-pos-cmd
+pin+joint.1.motor-pos-cmd
+pin+joint.2.motor-pos-cmd
+
+pin+motion.teleop-mode
+pin+motion.coord-mode
+
+pin+rosekins.bigtheta_degrees
+pin+rosekins.theta_degrees
+pin+rosekins.revolutions

configs/sim/axis/rose_engine/rose_engine.ini

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+[APPLICATIONS]
+APP = halshow rose_engine.halshow
+[HAL]
+HALUI = halui
+HALFILE = LIB:basic_sim.tcl
+
+[TRAJ]
+        COORDINATES = XYZ
+       LINEAR_UNITS = inch
+      ANGULAR_UNITS = degree
+DEFAULT_LINEAR_VELOCITY = 10
+MAX_LINEAR_VELOCITY = 10
+
+[KINS]
+ KINEMATICS = rosekins
+     JOINTS =  3
+
+[EMC]
+VERSION = 1.1
+MACHINE = Roseengine
+
+[DISPLAY]
+                 DISPLAY = axis
+               OPEN_FILE = ./rcone_demo.ngc
+         POSITION_OFFSET = RELATIVE
+     MAX_LINEAR_VELOCITY =  10
+ DEFAULT_LINEAR_VELOCITY =  10
+    MAX_ANGULAR_VELOCITY =  72
+DEFAULT_ANGULAR_VELOCITY =  72
+       MAX_FEED_OVERRIDE =   2
+             TOOL_EDITOR = tooledit
+              INCREMENTS = 1 in,0.1in,10mil,1mil
+                   TKPKG = Ngcgui 1.0
+          NGCGUI_SUBFILE = rcone.ngc
+             NGCGUI_FONT = Helvetica -14 normal
+
+[RS274NGC]
+PARAMETER_FILE = /tmp/rose.var
+SUBROUTINE_PATH = .
+
+[TASK]
+      TASK = milltask
+CYCLE_TIME = 0.001
+
+[EMCMOT]
+      EMCMOT = motmod
+SERVO_PERIOD = 1000000
+
+[EMCIO]
+TOOL_TABLE = rose.tbl
+
+[AXIS_X]
+    MAX_VELOCITY =  3
+MAX_ACCELERATION = 30
+[AXIS_Y]
+    MAX_VELOCITY =  3
+MAX_ACCELERATION = 30
+[AXIS_Z]
+    MAX_VELOCITY =  3
+MAX_ACCELERATION = 30
+
+# Notes:
+# HOME_SEARCH_VEL=0 for immediate homing
+#   HOME_SEQUENCE=0 for homeall in gui
+[JOINT_0]
+              TYPE = LINEAR
+      MAX_VELOCITY =  3
+  MAX_ACCELERATION = 30
+   HOME_SEARCH_VEL =  0
+     HOME_SEQUENCE =  0
+
+[JOINT_1]
+              TYPE = LINEAR
+      MAX_VELOCITY =  3
+  MAX_ACCELERATION = 30
+   HOME_SEARCH_VEL =  0
+     HOME_SEQUENCE =  0
+
+[JOINT_2]
+              TYPE = ANGULAR
+      MAX_VELOCITY =   72
+  MAX_ACCELERATION =  360
+   HOME_SEARCH_VEL =    0
+     HOME_SEQUENCE =    0