# RTCP G-code 文件清单

下面的路径均相对于 `test_Rtcp/programs/`。括号中的路径是对应的 LinuxCNC 源码相对路径。

## 1. TRT table rotary/tilting 主程序与测试：16 个

这些程序对应 `xyzac-trt-kins` 或 `xyzbc-trt-kins`。在 switchkins 配置中，`M428` 选择 TCP 运动学，`M429` 选择 identity 运动学。

### 主程序和运动学测试

- `configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzac.ngc`
- `configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzbc.ngc`
- `configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/impeller-7bl-xyzac.ngc`
- `configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc`
- `configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngc`
- `configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_2.ngc`
- `configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_3.ngc`
- `configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc`

### remap 与可调用子程序

- `configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc`
- `configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/429remap.ngc`
- `configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/430remap.ngc`
- `configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/centering.ngc`
- `configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_ac.ngc`
- `configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_bc.ngc`
- `configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/xyzac_switchkins_sub.ngc`
- `configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/xyzbc_switchkins_sub.ngc`

## 2. gmoccapy TRT 示例：5 个

该配置直接加载 `xyzac-trt-kins`，所以示例中不一定显式写 `M428`。

- `configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/boat-xyzac.ngc`
- `configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/boat-xyzbc.ngc`
- `configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/impeller-7bl-xyzac.ngc`
- `configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/test-xyzac.ngc`
- `configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/test-xyzbc.ngc`

## 3. XYZAB table dual rotary：3 个

- `configs/sim/axis/vismach/5axis/table-dual-rotary/demos/xyzab-tdr-demo.ngc`
- `configs/sim/axis/vismach/5axis/table-dual-rotary/remap_subs/428remap.ngc`
- `configs/sim/axis/vismach/5axis/table-dual-rotary/remap_subs/429remap.ngc`

`xyzab-tdr-demo.ngc` 使用 HAL 运动学变量建立 G54，加载刀长补偿后进入 TCP 模式，并同时改变 A/B 姿态。

## 4. XYZBCW Bridge Mill / 5axiskins：4 个

- `configs/sim/axis/vismach/5axis/bridgemill/5axisgui.ngc`
- `configs/sim/axis/vismach/5axis/bridgemill/remap_subs/428remap.ngc`
- `configs/sim/axis/vismach/5axis/bridgemill/remap_subs/429remap.ngc`
- `configs/sim/axis/vismach/5axis/bridgemill/remap_subs/430remap.ngc`

`5axisgui.ngc` 是参数化的球面/钻孔演示，使用 `W` 轴沿刀具方向进给；对应的 `5axiskins` 通过 pivot length 和当前刀长实现 TCP。

## 5. Hexapod RTCP 支持 remap：3 个

- `configs/sim/axis/vismach/hexapod-sim/remap_subs/428remap.ngc`
- `configs/sim/axis/vismach/hexapod-sim/remap_subs/429remap.ngc`
- `configs/sim/axis/vismach/hexapod-sim/remap_subs/430remap.ngc`

该目录在当前源码中没有额外的 RTCP 主加工程序，但 `genhexkins.c` 明确说明 `genhexkins.tool-offset` 连接到 `motion.tooloffset.Z` 时实现 RTCP，因此保留其运动学切换 remap 作为支持性 G 代码。

## 6. 独立五轴动态刀长示例：1 个

- `nc_files/cone.ngc`

该程序标注为 simulated 5 axis machine，先在旋转轴回零状态下使用 `G43.1` 修改动态刀长，然后执行 B/C 旋转和 W 轴钻削。它没有绑定到当前某个五轴 INI，因此应作为算法参考程序使用。