Add AC/BC RTCP programs and 3D machine manager

test_Rtcp/programs/configs/sim/axis/vismach/5axis/bridgemill/5axisgui.ngc

@@ -0,0 +1,53 @@
+        #<r>  =   60 ; sphere radius
+  #<rdelta>   =    5 ; safe distance
+#<drilldepth> =   -5
+    #<zstart> =    0
+    #<bctmax> =    8
+    #<cctmax> =   16
+    #<toolno> =  100
+    #<frate>  = 1000
+
+#<bct>    = 0
+#<cct>    = 0
+#<cdelta> = [360/#<cctmax>]
+#<bdelta> = [90/#<bctmax>]
+
+g49
+t#<toolno>m6g43
+
+g53 g0 x0y0z#<zstart>b0c0 w0
+g10l20 p0 x0 y0 z[#<r>+#<rdelta>] b0 c0 w0
+g0 z0
+f#<frate>
+o100 while [#<bct> lt #<bctmax>]
+       #<b> = [#<bct>*#<bdelta>]
+       #<rnow> = [[#<r>+#<rdelta>]*[cos[#<b>]]]
+       #<x> = [#<rnow>]
+       #<y> = 0
+       #<z> = [-#<rnow>]
+       g0 x#<x> y#<y>
+       m66e0l0 ; force sync
+       g0 z#<z>
+       g0b[-90+#<b>]
+       #<cct> = 0
+o200   while [#<cct> lt #<cctmax>]
+o210      if [[#<bct> mod 2] eq 0]
+              #<c> = [#<cct> * #<cdelta>]
+o210      else
+              #<c> = [360 - [1+ #<cct>] * #<cdelta>]
+o210      endif
+          #<x> = [#<rnow>*[cos[#<c>]]]
+          #<y> = [#<rnow>*[sin[#<c>]]]
+          g0 x#<x> y#<y> z#<z>  c#<c>
+          f#<frate>
+          g1 w[ #<drilldepth> - #<rdelta>]
+          g0 w0
+          m66e0l0 ;force sync
+          #<cct> = [#<cct>+1]
+o200   endwhile
+       #<bct> = [#<bct>+1]
+o100 endwhile
+
+g0x0y0z0b0c0w0
+g53 g0 x0y0z0
+m2

test_Rtcp/programs/configs/sim/axis/vismach/5axis/bridgemill/remap_subs/428remap.ngc

@@ -0,0 +1,24 @@
+;M428 by remap: select kinstype=0 genhexkins
+o<428remap>sub
+  #<kinstype> = 0
+  #<SWITCHKINS_PIN> = 3  ; set N as required: motion.analog-out-0N
+
+o1 if [exists [#<_hal[motion.switchkins-type]>]]
+o1 else
+     (debug,M428:Missing [RS274NGC]HAL_PIN_VARS=1)
+     (debug,STOP)
+     M2
+o1 endif
+
+   M68  E#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
+   M66  E0 L0                           ; force synch
+
+o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #<kinstype>]]
+     (debug,M428: Wrong motion.switchkins-type)
+     (debug,or missing hal net to analog-out-0x)
+     (debug,STOP)
+     M2
+o2 else
+o2 endif
+
+o<428remap>endsub

test_Rtcp/programs/configs/sim/axis/vismach/5axis/bridgemill/remap_subs/429remap.ngc

@@ -0,0 +1,24 @@
+;M429 by remap: select kinstype==1 Identity kinematics
+o<429remap>sub
+  #<kinstype> = 1
+  #<SWITCHKINS_PIN> = 3  ; set N as required: motion.analog-out-0N
+
+o1 if [exists [#<_hal[motion.switchkins-type]>]]
+o1 else
+     (debug,M429:Missing [RS274NGC]HAL_PIN_VARS=1)
+     (debug,STOP)
+     M2
+o1 endif
+
+   M68  E#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
+   M66  E0 L0                           ; force synch
+
+o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #<kinstype>]]
+     (debug,M429:Wrong motion.switchkins-type)
+     (debug,or missing hal net to analog-out-0x)
+     (debug,STOP)
+     M2
+o2 else
+o2 endif
+
+o<429remap>endsub

test_Rtcp/programs/configs/sim/axis/vismach/5axis/bridgemill/remap_subs/430remap.ngc

@@ -0,0 +1,24 @@
+;M430 by remap: select kinstype==2 userk kins
+o<430remap>sub
+  #<kinstype> = 2
+  #<SWITCHKINS_PIN> = 3  ; set N as required: motion.analog-out-0N
+
+o1 if [exists [#<_hal[motion.switchkins-type]>]]
+o1 else
+     (debug,M30:Missing [RS274NGC]HAL_PIN_VARS=1)
+     (debug,STOP)
+     M2
+o1 endif
+
+   M68  E#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
+   M66  E0 L0                           ; force synch
+
+o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #<kinstype>]]
+     (debug,M430:Wrong motion.switchkins-type)
+     (debug,or missing hal net to analog-out-0x)
+     (debug,STOP)
+     M2
+o2 else
+o2 endif
+
+o<430remap>endsub

test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-dual-rotary/demos/xyzab-tdr-demo.ngc

@@ -0,0 +1,49 @@
+; -- RELOAD GCODE FOR PROPER TOOL-PATH PREVIEW --
+g21 g90 g49 g54
+; switch to identity mode
+m429
+; clear g54
+g10 l2 p0 x0 y0 z0 a0 b0
+; go to machine origin
+g53 g0 x0 y0 z0 a0 b0
+; set g54 for face center of rotary
+g10 l20 p0 x-[#<_hal[xyzab_tdr_kins.x-rot-point]>+#<_hal[xyzab_tdr_kins.x-offset]>] y-#<_hal[xyzab_tdr_kins.x-rot-point]> z-[#<_hal[xyzab_tdr_kins.z-rot-point]>+#<_hal[xyzab_tdr_kins.z-offset]>] a0 b0
+; load a tool
+M61 Q2 G43 H2
+; switch to tcp mode
+m428
+g0 b30
+; go to face center of rotary a
+g0 x0 y0 z0
+; show basic tcp functionality
+g0 x30 a180
+g0 x0 a0
+g0 b100
+g0 y-50
+g0 a90
+g0 b120
+g0 y0
+g0 a0 b30
+g0 x1
+; start with square
+f1000
+g0 y-30 z-30
+g1 z30
+g1 a45
+g1 y30
+g1 a90 b45
+g1 z-30
+g1 a180 b100
+g1 y30
+g1 a90 b120
+g1 y-30
+g1 a0 b30
+g0 x5
+g1 y-30 z-30 a90
+g1 z30 a45 b60
+g1 y30 a90 b90
+g1 z-30 a135 b120
+g1 y-30 a0 b30
+; go to machine origin
+g53 g0 x0 y0 z0 a0 b0
+m2

test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-dual-rotary/remap_subs/428remap.ngc

@@ -0,0 +1,24 @@
+;M428 by remap: kinstype==1 (xyzac,xyzbc) (note: sparm=identityfirst)
+o<428remap>sub
+  #<kinstype> = 1        ; xyzac,xyzbc
+  #<SWITCHKINS_PIN> = 3  ; set N as required: motion.analog-out-0N
+
+o1 if [exists [#<_hal[motion.switchkins-type]>]]
+o1 else
+     (debug,M428:Missing [RS274NGC]HAL_PIN_VARS=1)
+     (debug,STOP)
+     M2
+o1 endif
+
+   M68  E#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
+   M66  E0 L0                           ; force synch
+
+o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #<kinstype>]]
+     (debug,M428: Wrong motion.switchkins-type)
+     (debug,or missing hal net to analog-out-0x)
+     (debug,STOP)
+     M2
+o2 else
+o2 endif
+
+o<428remap>endsub

test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-dual-rotary/remap_subs/429remap.ngc

@@ -0,0 +1,24 @@
+;M429 by remap: kinstype==0 Identity kinematics
+o<429remap>sub
+  #<kinstype> = 0
+  #<SWITCHKINS_PIN> = 3  ; set N as required: motion.analog-out-0N
+
+o1 if [exists [#<_hal[motion.switchkins-type]>]]
+o1 else
+     (debug,M429:Missing [RS274NGC]HAL_PIN_VARS=1)
+     (debug,STOP)
+     M2
+o1 endif
+
+   M68  E#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
+   M66  E0 L0                           ; force synch
+
+o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #<kinstype>]]
+     (debug,M429:Wrong motion.switchkins-type)
+     (debug,or missing hal net to analog-out-0x)
+     (debug,STOP)
+     M2
+o2 else
+o2 endif
+
+o<429remap>endsub

test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc

@@ -0,0 +1,3 @@
+;                            zmax zmin r   frate n  a   b  c   dist
+o<xyzac_switchkins_sub> call [10] [5]  [10][1000][3][20][0][45][20]
+m2

test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngc

@@ -0,0 +1,39 @@
+; for debugging, use mdi to set global #<_switchkins_debug>=1
+
+#<FRATE>=1000
+M429
+G0 X0 Y0 Z0 A0 C0
+G0 C90 X10 Y0
+G1 F#<FRATE> Z2
+
+M428
+G1 F#<FRATE> Z0
+
+M429
+G1 F#<FRATE> Z2
+G0 C90 X0 Y10
+G1 F#<FRATE> Z0
+
+M428
+G1 F#<FRATE> Z2
+
+M429
+G1 F#<FRATE> Z0
+G0 C90 X10 Y30
+G1 F#<FRATE> Z2
+
+M428
+G1 F#<FRATE> Z0
+
+M429
+G1 F#<FRATE> Z2
+G0 C90 X30 Y10
+G1 F#<FRATE> Z0
+
+M428
+G1 F#<FRATE> Z2
+M429
+G1 F#<FRATE> Z0
+
+G0 X0 Y0 Z0 A0 C0
+M2

test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_2.ngc

@@ -0,0 +1,49 @@
+; for debugging, use mdi to set global #<_switchkins_debug>=1
+
+#<FRATE>=1000
+M429 ;Trivkins
+G64 P0.01
+S1500 M3
+G0 X0 Y0 Z5 A0 C0
+G1 F#<FRATE> Z0
+G1 X20 Y0 F#<FRATE>
+
+M428 ;XYZAC
+G1 C90
+G1 X20
+G1 Y20
+G1 X0
+G1 Y0
+G1 A20
+G1 X-20
+G1 Y-20
+G1 X0
+G1 Y0
+
+(-------)
+G1 C45
+G1 X-15
+G1 Y15
+G1 X0
+G1 Y0
+G1 Y-15
+G1 X15
+G1 Y0
+G1 X0
+
+(-------)
+G1 C90 X15
+G1 C180 Y15
+G1 C270 X0
+G1 C360 Y0
+G1 C0
+G1 C-90 X-15
+G1 C-180 Y-15
+G1 C-270 X0
+G1 C-360 Y0
+G1 Z5
+
+M429 ;Trivkins
+
+G1 X0 Y0 Z1 A0 C0
+M2

test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_3.ngc

@@ -0,0 +1,15 @@
+;# enable optional stop for m1
+m429 ;trivkins
+G0 X0 Y0 Z0 A0 C0
+G0 C90 X10 Y0
+G1 F1000 Z2
+(debug,A expect: 10   0 2) m1
+(debug,B expect: 10   0 2) m1
+m428 ;tcp
+(debug,C expect:  0 -10 2) m1
+g1f1000 z0
+(debug,D expect:  0 -10 0) m1
+(debug,E expect:  0 -10 0) m1
+m429 ;trivkins
+(debug,F expect: 10 0 0)
+m2

test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc

@@ -0,0 +1,3 @@
+;                            zmax zmin r   frate n  a   b  c   dist
+o<xyzbc_switchkins_sub> call [10] [5]  [10][1000][3][0][20][45][20]
+m2

test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc

@@ -0,0 +1,24 @@
+;M428 by remap: kinstype==1 (xyzac,xyzbc) (note: sparm=identityfirst)
+o<428remap>sub
+  #<kinstype> = 1        ; xyzac,xyzbc
+  #<SWITCHKINS_PIN> = 3  ; set N as required: motion.analog-out-0N
+
+o1 if [exists [#<_hal[motion.switchkins-type]>]]
+o1 else
+     (debug,M428:Missing [RS274NGC]HAL_PIN_VARS=1)
+     (debug,STOP)
+     M2
+o1 endif
+
+   M68  E#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
+   M66  E0 L0                           ; force synch
+
+o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #<kinstype>]]
+     (debug,M428: Wrong motion.switchkins-type)
+     (debug,or missing hal net to analog-out-0x)
+     (debug,STOP)
+     M2
+o2 else
+o2 endif
+
+o<428remap>endsub

test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/429remap.ngc

@@ -0,0 +1,24 @@
+;M429 by remap: kinstype==0 Identity kinematics
+o<429remap>sub
+  #<kinstype> = 0
+  #<SWITCHKINS_PIN> = 3  ; set N as required: motion.analog-out-0N
+
+o1 if [exists [#<_hal[motion.switchkins-type]>]]
+o1 else
+     (debug,M429:Missing [RS274NGC]HAL_PIN_VARS=1)
+     (debug,STOP)
+     M2
+o1 endif
+
+   M68  E#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
+   M66  E0 L0                           ; force synch
+
+o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #<kinstype>]]
+     (debug,M429:Wrong motion.switchkins-type)
+     (debug,or missing hal net to analog-out-0x)
+     (debug,STOP)
+     M2
+o2 else
+o2 endif
+
+o<429remap>endsub

test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/430remap.ngc

@@ -0,0 +1,24 @@
+;M430 by remap: kinstype==2 userk kins
+o<430remap>sub
+  #<kinstype> = 2
+  #<SWITCHKINS_PIN> = 3  ; set N as required: motion.analog-out-0N
+
+o1 if [exists [#<_hal[motion.switchkins-type]>]]
+o1 else
+     (debug,M430:Missing [RS274NGC]HAL_PIN_VARS=1)
+     (debug,STOP)
+     M2
+o1 endif
+
+   M68  E#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
+   M66  E0 L0                           ; force synch
+
+o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #<kinstype>]]
+     (debug,M430:Wrong motion.switchkins-type)
+     (debug,or missing hal net to analog-out-0x)
+     (debug,STOP)
+     M2
+o2 else
+o2 endif
+
+o<430remap>endsub

test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/centering.ngc

@@ -0,0 +1,42 @@
+(info: tests for values of [xyz]-rot-point)
+o<centering>sub
+#<xstart> = #1 (=-2.5)
+#<ystart> = #2 (=-2.5)
+  #<xlen> = #3 (= 5)
+  #<ylen> = #4 (= 5)
+#<zfinal> = #5 (=60)
+     #<n> = #6 (=12)
+     #<f> = #7 (=1000 feed)
+#<angle> = 0
+#<delta_angle> = [360/#<n>]
+
+o1 if [exists [#<_hal[xyzac-trt-kins.x-rot-point]>]]
+     (debug,x-rot-point=#<_hal[xyzac-trt-kins.x-rot-point]>)
+     (debug,y-rot-point=#<_hal[xyzac-trt-kins.y-rot-point]>)
+     (debug,z-rot-point=#<_hal[xyzac-trt-kins.z-rot-point]>)
+o1 endif
+o2 if [exists [#<_hal[xyzbc-trt-kins.x-rot-point]>]]
+     (debug,x-rot-point=#<_hal[xyzbc-trt-kins.x-rot-point]>)
+     (debug,y-rot-point=#<_hal[xyzbc-trt-kins.y-rot-point]>)
+     (debug,z-rot-point=#<_hal[xyzac-trt-kins.z-rot-point]>)
+o2 endif
+
+M429 ;Identity kinematics
+g0 x#<xstart> y#<ystart> z0 c0
+M428 ;tcp
+
+g61
+o10 while [#<angle> le 360]
+     g1 f#<f>
+     #<angle> = [#<angle> + #<delta_angle>]
+     g0 c#<angle>
+     g1 x[#<xstart> + #<xlen>]
+     g1 y[#<ystart> + #<ylen>]
+     g1 x[#<xstart> + 0      ]
+     g1 y[#<ystart> + 0      ]
+o10 endwhile
+
+
+M429 ;Identity kinematics
+g0 x0 y0 z#<zfinal> c0
+o<centering>endsub

test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_ac.ngc

@@ -0,0 +1,22 @@
+; helix using switchkins (xyzac) a,c angles
+o<helix_ac>sub
+   #<zmax> = #1 (=10)
+   #<zmin> = #2 (= 5)
+      #<r> = #3 (=10)
+  #<frate> = #4 (=1000)
+      #<n> = #5 (=3)
+      #<a> = #6 (=45)
+      #<b> = #7 (=0 NA)
+      #<c> = #8 (=20)
+
+  M429                            ;Identity kinematics
+  g0 x[#<_x> - #<r>]              ;adjust for radius
+  g10l20p0 x0y0 z#<zmax> a0 c0    ;new g54
+  M428                            ;XYZAC
+  g0a#<a>c#<c>                    ;exercise a,c
+  f#<frate> g2i#<r>z#<zmin> p#<n> ;helix
+  M429                            ;Identity kinematics
+  g0 x0 y0 z#<zmax> a0 c0         ;return to start
+  g0 x[#<_x> + #<r>]              ;adjust restore
+  M428                            ;XYZAC
+o<helix_ac>endsub

test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_bc.ngc

@@ -0,0 +1,22 @@
+; helix using switchkins (xyzbc) b,c angles
+o<helix_bc>sub
+   #<zmax> = #1 (=10)
+   #<zmin> = #2 (= 5)
+      #<r> = #3 (=10)
+  #<frate> = #4 (=1000)
+      #<n> = #5 (=3)
+      #<a> = #6 (=0 NA)
+      #<b> = #7 (=45)
+      #<c> = #8 (=20)
+
+  M429                            ;Identity kinematics
+  g0 x[#<_x> - #<r>]              ;adjust for radius
+  g10l20p0 x0y0 z#<zmax> b0 c0    ;new g54
+  M428                            ;XYZBC
+  g0b#<b>c#<c>                    ;exercise b,c
+  f#<frate> g2i#<r>z#<zmin> p#<n> ;helix
+  M429                            ;Identity kinematics
+  g0 x0 y0 z#<zmax> b0 c0         ;return to start
+  g0 x[#<_x> + #<r>]              ;adjust restore
+  M428                            ;XYZBC
+o<helix_bc>endsub

test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/xyzac_switchkins_sub.ngc

@@ -0,0 +1,47 @@
+; ngcgui-compatible subroutine
+(info: helix in each quadrant at angles A,C)
+o<xyzac_switchkins_sub>sub
+   #<zmax> = #1 (=10)
+   #<zmin> = #2 (= 5)
+      #<r> = #3 (=10 radius)
+  #<frate> = #4 (=1000 feedrate)
+      #<n> = #5 (=3  n circles)
+      #<a> = #6 (=30 A angle)
+      #<b> = #7 (=0  B angle NA)
+      #<c> = #8 (=45 C angle)
+   #<dist> = #9 (=20 distance)
+
+; quadrant I
+M429                            ;Identity kinematics
+g53 g0   x0y0 z#<zmax> a0 c0    ;MACHINE coordinates
+g10l20p0 x0y0 z#<zmax> a0 c0    ;new g54
+g0 x+#<dist> y+#<dist> z#<zmax> ;move to pattern center position
+o<helix_ac> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]
+
+; quadrant II
+M429                            ;Identity kinematics
+g53 g0   x0y0 z#<zmax> a0 c0
+g10l20p0 x0y0 z#<zmax> a0 c0
+g0 x-#<dist> y+#<dist> z#<zmax>
+o<helix_ac> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]
+
+; quadrant III
+M429                            ;Identity kinematics
+g53 g0   x0y0 z#<zmax> a0 c0
+g10l20p0 x0y0 z#<zmax> a0 c0
+g0 x-#<dist> y-#<dist> z#<zmax>
+o<helix_ac> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]
+
+; quadrant IV
+M429                            ;Identity kinematics
+g53 g0   x0y0 z#<zmax> a0 c0
+g10l20p0 x0y0 z#<zmax> a0 c0
+g0 x+#<dist> y-#<dist> z#<zmax>
+o<helix_ac> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]
+
+;final position
+M429                            ;Identity kinematics
+g53 g0   x0y0 z#<zmax> ;MACHINE coordinates
+g10l20p0 x0y0 z#<zmax> ;new g54
+
+o<xyzac_switchkins_sub>endsub

test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/xyzbc_switchkins_sub.ngc

@@ -0,0 +1,47 @@
+; ngcgui-compatible subroutine
+(info: helix in each quadrant at angles B,C)
+o<xyzbc_switchkins_sub>sub
+   #<zmax> = #1 (=10)
+   #<zmin> = #2 (= 5)
+      #<r> = #3 (=10 radius)
+  #<frate> = #4 (=1000 feedrate)
+      #<n> = #5 (=3  n circles)
+      #<a> = #6 (=0  A angle NA)
+      #<b> = #7 (=30 B angle)
+      #<c> = #8 (=45 C angle)
+   #<dist> = #9 (=20 distance)
+
+; quadrant I
+M429                            ;Identity kinematics
+g53 g0   x0y0 z#<zmax> b0 c0    ;MACHINE coordinates
+g10l20p0 x0y0 z#<zmax> b0 c0    ;new g54
+g0 x+#<dist> y+#<dist> z#<zmax> ;move to pattern center position
+o<helix_bc> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]
+
+; quadrant II
+M429                            ;Identity kinematics
+g53 g0   x0y0 z#<zmax> b0 c0
+g10l20p0 x0y0 z#<zmax> b0 c0
+g0 x-#<dist> y+#<dist> z#<zmax>
+o<helix_bc> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]
+
+; quadrant III
+M429                            ;Identity kinematics
+g53 g0   x0y0 z#<zmax> b0 c0
+g10l20p0 x0y0 z#<zmax> b0 c0
+g0 x-#<dist> y-#<dist> z#<zmax>
+o<helix_bc> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]
+
+; quadrant IV
+M429                            ;Identity kinematics
+g53 g0   x0y0 z#<zmax> b0 c0
+g10l20p0 x0y0 z#<zmax> b0 c0
+g0 x+#<dist> y-#<dist> z#<zmax>
+o<helix_bc> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]
+
+;final position
+M429                            ;Identity kinematics
+g53 g0   x0y0 z#<zmax> ;MACHINE coordinates
+g10l20p0 x0y0 z#<zmax> ;new g54
+
+o<xyzbc_switchkins_sub>endsub

test_Rtcp/programs/configs/sim/axis/vismach/hexapod-sim/remap_subs/428remap.ngc

@@ -0,0 +1,24 @@
+;M428 by remap: select kinstype=0 genhexkins
+o<428remap>sub
+  #<kinstype> = 0
+  #<SWITCHKINS_PIN> = 3  ; set N as required: motion.analog-out-0N
+
+o1 if [exists [#<_hal[motion.switchkins-type]>]]
+o1 else
+     (debug,M428:Missing [RS274NGC]HAL_PIN_VARS=1)
+     (debug,STOP)
+     M2
+o1 endif
+
+   M68  E#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
+   M66  E0 L0                           ; force synch
+
+o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #<kinstype>]]
+     (debug,M428: Wrong motion.switchkins-type)
+     (debug,or missing hal net to analog-out-0x)
+     (debug,STOP)
+     M2
+o2 else
+o2 endif
+
+o<428remap>endsub

test_Rtcp/programs/configs/sim/axis/vismach/hexapod-sim/remap_subs/429remap.ngc

@@ -0,0 +1,24 @@
+;M429 by remap: select kinstype==1 Identity kinematics
+o<429remap>sub
+  #<kinstype> = 1
+  #<SWITCHKINS_PIN> = 3  ; set N as required: motion.analog-out-0N
+
+o1 if [exists [#<_hal[motion.switchkins-type]>]]
+o1 else
+     (debug,M429:Missing [RS274NGC]HAL_PIN_VARS=1)
+     (debug,STOP)
+     M2
+o1 endif
+
+   M68  E#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
+   M66  E0 L0                           ; force synch
+
+o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #<kinstype>]]
+     (debug,M429:Wrong motion.switchkins-type)
+     (debug,or missing hal net to analog-out-0x)
+     (debug,STOP)
+     M2
+o2 else
+o2 endif
+
+o<429remap>endsub

test_Rtcp/programs/configs/sim/axis/vismach/hexapod-sim/remap_subs/430remap.ngc

@@ -0,0 +1,24 @@
+;M430 by remap: select kinstype==2 userk kins
+o<430remap>sub
+  #<kinstype> = 2
+  #<SWITCHKINS_PIN> = 3  ; set N as required: motion.analog-out-0N
+
+o1 if [exists [#<_hal[motion.switchkins-type]>]]
+o1 else
+     (debug,M30:Missing [RS274NGC]HAL_PIN_VARS=1)
+     (debug,STOP)
+     M2
+o1 endif
+
+   M68  E#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
+   M66  E0 L0                           ; force synch
+
+o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #<kinstype>]]
+     (debug,M430:Wrong motion.switchkins-type)
+     (debug,or missing hal net to analog-out-0x)
+     (debug,STOP)
+     M2
+o2 else
+o2 endif
+
+o<430remap>endsub

test_Rtcp/programs/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/test-xyzac.ngc

@@ -0,0 +1,47 @@
+o<test-xyzac> sub
+(test-xyzac-kins with offsets and tool change)
+( 5 AXIS XYZAC MILLING )
+
+ #<a_angle> =  #1 (=20)
+ #<c_angle> =  #2 (=30)
+  #<xy_max> =  #3 (=30)
+   #<z_max> =  #4 (=10)
+#<feedrate> =  #5 (=200)
+   #<tool1> =  #6 (=1 1st Tool)
+   #<tool2> =  #7 (=2 2nd Tool)
+  #<speed1> =  #8 (=500)
+  #<speed2> =  #9 (=600)
+
+; 'square with 2 rounded corners'
+#<x_max> = #<xy_max>
+#<y_max> = #<xy_max>
+#<g3_j>  = #<xy_max>
+
+N40 G00 G17 G40 G90 G94 Z10
+(first tool - no z-offset)
+T#<tool1> M6
+S#<speed1> M3
+G00 A#<a_angle> C#<c_angle>
+G43 H#<tool1> Z0
+G01 X#<x_max> F#<feedrate>
+G01 Y#<y_max>
+G01 X0
+G03 X-#<x_max> Y0 I0 J-#<g3_j>
+G00 Z#<z_max>
+G00 X0
+M5
+(next tool- with z-offset)
+T#<tool2> M6
+S#<speed2> M3
+G00 A#<a_angle> C#<c_angle>
+G43 H#<tool2> Z0
+G01 X-#<x_max> F#<feedrate>
+G01 Y-#<y_max>
+G01 X0
+G03 X#<x_max> Y0 I0 J#<g3_j>
+G0 Z#<z_max>
+G0 X0 Y0
+M5
+A0 C0
+
+o<test-xyzac> endsub

test_Rtcp/programs/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/test-xyzbc.ngc

@@ -0,0 +1,47 @@
+o<test-xyzbc> sub
+(test-xyzbc-trt-kins with offsets and tool change)
+( 5 AXIS XYZBC MILLING )
+
+ #<b_angle> =  #1 (=20)
+ #<c_angle> =  #2 (=30)
+  #<xy_max> =  #3 (=30)
+   #<z_max> =  #4 (=10)
+#<feedrate> =  #5 (=200)
+   #<tool1> =  #6 (=1 1st Tool)
+   #<tool2> =  #7 (=2 2nd Tool)
+  #<speed1> =  #8 (=500)
+  #<speed2> =  #9 (=600)
+
+;'square with 2 rounded corners'
+#<x_max> = #<xy_max>
+#<y_max> = #<xy_max>
+#<g3_j>  = #<xy_max>
+
+G00 G17 G40 G90 G94 Z10
+(first tool - no z-offset)
+T#<tool1> M6
+S#<speed1> M3
+G00 B#<b_angle> C#<c_angle>
+G43 H#<tool1> Z0
+G01 X#<x_max> F#<feedrate>
+G01 Y#<y_max>
+G01 X0
+G03 X-#<x_max> Y0 I0 J-#<g3_j>
+G00 Z#<z_max>
+G00 X0
+M5
+(next tool- with z-offset)
+T#<tool2> M6
+S#<speed2> M3
+G00 B#<b_angle> C#<c_angle>
+G43 H#<tool2> Z0
+G01 X-#<x_max> F#<feedrate>
+G01 Y-#<y_max>
+G01 X0
+G03 X#<x_max> Y0 I0 J#<g3_j>
+G0 Z#<z_max>
+G0 X0 Y0
+M5
+B0 C0
+
+o<test-xyzbc> endsub

test_Rtcp/programs/nc_files/cone.ngc

@@ -0,0 +1,42 @@
+(for the simulated 5 axis machine)
+g21 g90 g94 g28
+
+o200 sub
+
+g0 b0 c0 (tool length change must happen with b,c=0)
+g91 g28 z0 (could also be done with tool change position)
+g90
+g43.1 z#1 (change tool length)
+g0z0 (move Z to apply new length)
+
+x-100 b-45 c-180
+g1 z-100 f2000
+
+#100=-180
+o100 while [ #100 le 180 ]
+    g1 x[100*cos[#100]] y[100*sin[#100]] c#100
+    #100=[#100+10]
+o100 endwhile
+g0 z0
+x0 y0 b0 c0
+o200 endsub
+
+(cut around the "cone" with different tool lengths)
+o200 call [50]
+o200 call [80]
+
+g61
+
+g0 x-100 b-45 c-180
+#100=-180
+o101 while [ #100 lt 180 ]
+    g0 x[150*cos[#100]] y[150*sin[#100]] z-100 c#100
+    g1 w100 f2000 (drill)
+    g0 w0
+    #100=[#100+45]
+o101 endwhile
+
+g28
+g49
+
+m2