Config

/**
  Copyright (C) 2012-2017 by Autodesk, Inc.
  All rights reserved.

  UCCNC post processor configuration.

  $Revision: 41369 65a1f6cb57e3c7389dc895ea10958fc2f7947b0d $
  $Date: 2017-03-20 14:12:44 $

  FORKID {9076F4FE-2652-48D2-9DAD-1A22C240A8B8}
*/

description = "STEPCRAFT UCCNC";
vendor = "UCCNC";
vendorUrl = "http://www.cncdrive.com/";
legal = "Copyright (C) 2012-2017 by Autodesk, Inc.";
certificationLevel = 2;
minimumRevision = 24000;

longDescription = "Generic post for STEPCRAFT machines using UCCNC control software. If you are using a fourth axis, make sure to enable either the property 'fourthAxisAroundX' or 'fourthAxisAroundY'. If you have an automatic tool changer, enable the property 'useToolChanger'.";

extension = "nc";
setCodePage("ascii");

capabilities = CAPABILITY_MILLING;
tolerance = spatial(0.002, MM);

minimumChordLength = spatial(0.01, MM);
minimumCircularRadius = spatial(0.01, MM);
maximumCircularRadius = spatial(1000, MM);
minimumCircularSweep = toRad(0.01);
maximumCircularSweep = toRad(90);
allowHelicalMoves = true;
allowedCircularPlanes = 1 << PLANE_XY; // allow only XY circular motion


// user-defined properties
properties = {
  writeMachine: true, // write machine
  writeTools: true, // writes the tools
  showSequenceNumbers: false, // show sequence numbers
  sequenceNumberStart: 10, // first sequence number
  sequenceNumberIncrement: 1, // increment for sequence numbers
  separateWordsWithSpace: true, // specifies that the words should be separated with a white space
  useToolChanger: false, // specifies that a tool changer is available
  toolChangePositionX: 0, // specifies the tool change position for X
  toolChangePositionY: 0, // specifies the tool change position for Y
  fourthAxisAroundX: false, // specifies that a fourth axis is mounted along X
  fourthAxisAroundY: false, // specifies that a fourth axis is mounted along Y
  useSmoothing: true // specifies to use constant velocity mode
  /*referenceRun: true*/ // move to reference point first at the beginning of the program
};

var gFormat = createFormat({prefix:"G", decimals:1});
var mFormat = createFormat({prefix:"M", decimals:0});
var hFormat = createFormat({prefix:"H", decimals:0});

var xyzFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true});
var abcFormat = createFormat({decimals:3, forceDecimal:true, scale:DEG});
var feedFormat = createFormat({decimals:(unit == MM ? 1 : 2)});
var toolFormat = createFormat({decimals:0});
var rpmFormat = createFormat({decimals:0});
var secFormat = createFormat({decimals:3, forceDecimal:true}); // seconds - range 0.001-1000
var milliFormat = createFormat({decimals:0}); // milliseconds - range 1-?
var taperFormat = createFormat({decimals:1, scale:DEG});
var pitchFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true});

var xOutput = createVariable({prefix:"X"}, xyzFormat);
var yOutput = createVariable({prefix:"Y"}, xyzFormat);
var zOutput = createVariable({prefix:"Z"}, xyzFormat);
var aOutput = createVariable({prefix:"A"}, abcFormat);
var bOutput = createVariable({prefix:"B"}, abcFormat);
var cOutput = createVariable({prefix:"C"}, abcFormat);
var feedOutput = createVariable({prefix:"F"}, feedFormat);
var sOutput = createVariable({prefix:"S", force:true}, rpmFormat);
var pitchOutput = createVariable({prefix:"K", force:true}, pitchFormat);

// circular output
var iOutput = createReferenceVariable({prefix:"I", force:true}, xyzFormat);
var jOutput = createReferenceVariable({prefix:"J", force:true}, xyzFormat);
var kOutput = createReferenceVariable({prefix:"K", force:true}, xyzFormat);

var gMotionModal = createModal({}, gFormat); // modal group 1 // G0-G3, ...
// var gPlaneModal = createModal({onchange:function () {gMotionModal.reset();}}, gFormat); // modal group 2 // G17-19
var gAbsIncModal = createModal({}, gFormat); // modal group 3 // G90-91
var gFeedModeModal = createModal({}, gFormat); // modal group 5 // G93-94
var gUnitModal = createModal({}, gFormat); // modal group 6 // G20-22
var gCycleModal = createModal({}, gFormat); // modal group 9 // G81, ...

var WARNING_WORK_OFFSET = 0;

// collected state
var sequenceNumber;
var currentWorkOffset;

/**
  Writes the specified block.
*/
function writeBlock() {
  if (properties.showSequenceNumbers) {
    writeWords2("N" + sequenceNumber, arguments);
    sequenceNumber += properties.sequenceNumberIncrement;
  } else {
    writeWords(arguments);
  }
}

function formatComment(text) {
  return "(" + String(text).replace(/[\[\]]/g, "") + ")";
}

/**
  Output a comment.
*/
function writeComment(text) {
  writeln(formatComment(text));
}

function onOpen() {

  if (properties.fourthAxisAroundX && properties.fourthAxisAroundY) {
    error(localize("Both fourthAxisAroundX and fourthAxisAroundY are enabled. Please select only one of these properties."));
    return;
  }

  if (properties.fourthAxisAroundX || properties.fourthAxisAroundY) {
    var aAxis = createAxis({coordinate:0, table:true, axis:[(properties.fourthAxisAroundX ? 1 : 0), (properties.fourthAxisAroundY ? 1 : 0), 0], cyclic:true, preference:0});
    machineConfiguration = new MachineConfiguration(aAxis);

    setMachineConfiguration(machineConfiguration);
    optimizeMachineAngles2(1); // map tip mode
  }

  if (!machineConfiguration.isMachineCoordinate(0)) {
    aOutput.disable();
  }
  if (!machineConfiguration.isMachineCoordinate(1)) {
    bOutput.disable();
  }
  if (!machineConfiguration.isMachineCoordinate(2)) {
    cOutput.disable();
  }

  if (!properties.separateWordsWithSpace) {
    setWordSeparator("");
  }

  sequenceNumber = properties.sequenceNumberStart;

  if (programName) {
    writeComment(programName);
  }
  if (programComment) {
    writeComment(programComment);
  }

  // dump machine configuration
  var vendor = machineConfiguration.getVendor();
  var model = machineConfiguration.getModel();
  var description = machineConfiguration.getDescription();

  if (properties.writeMachine && (vendor || model || description)) {
    writeComment(localize("Machine"));
    if (vendor) {
      writeComment("  " + localize("vendor") + ": " + vendor);
    }
    if (model) {
      writeComment("  " + localize("model") + ": " + model);
    }
    if (description) {
      writeComment("  " + localize("description") + ": "  + description);
    }
  }

  // dump tool information
  if (properties.writeTools) {
    var zRanges = {};
    if (is3D()) {
      var numberOfSections = getNumberOfSections();
      for (var i = 0; i < numberOfSections; ++i) {
        var section = getSection(i);
        var zRange = section.getGlobalZRange();
        var tool = section.getTool();
        if (zRanges[tool.number]) {
          zRanges[tool.number].expandToRange(zRange);
        } else {
          zRanges[tool.number] = zRange;
        }
      }
    }

    var tools = getToolTable();
    if (tools.getNumberOfTools() > 0) {
      for (var i = 0; i < tools.getNumberOfTools(); ++i) {
        var tool = tools.getTool(i);
        var comment = "T" + toolFormat.format(tool.number) + "  " +
          "D=" + xyzFormat.format(tool.diameter) + " " +
          localize("CR") + "=" + xyzFormat.format(tool.cornerRadius);
        if ((tool.taperAngle > 0) && (tool.taperAngle < Math.PI)) {
          comment += " " + localize("TAPER") + "=" + taperFormat.format(tool.taperAngle) + localize("deg");
        }
        if (zRanges[tool.number]) {
          comment += " - " + localize("ZMIN") + "=" + xyzFormat.format(zRanges[tool.number].getMinimum());
        }
        comment += " - " + getToolTypeName(tool.type);
        writeComment(comment);
      }
    }
  }

  if ((getNumberOfSections() > 0) && (getSection(0).workOffset == 0)) {
    for (var i = 0; i < getNumberOfSections(); ++i) {
      if (getSection(i).workOffset > 0) {
        error(localize("Using multiple work offsets is not possible if the initial work offset is 0."));
        return;
      }
    }
  }

  // absolute coordinates and feed per min
  writeBlock(gAbsIncModal.format(90));

/*
  if (properties.referenceRun) {
    writeBlock(gFormat.format(28.1));
  }
*/

/* not supported on UCCNC
  switch (unit) {
  case IN:
    writeBlock(gUnitModal.format(20));
    break;
  case MM:
    writeBlock(gUnitModal.format(22)); // G21 is cm
    break;
  }
*/
}

function onComment(message) {
  writeComment(message);
}

/** Force output of X, Y, and Z. */
function forceXYZ() {
  xOutput.reset();
  yOutput.reset();
  zOutput.reset();
}

/** Force output of A, B, and C. */
function forceABC() {
  aOutput.reset();
  bOutput.reset();
  cOutput.reset();
}

/** Force output of X, Y, Z, A, B, C, and F on next output. */
function forceAny() {
  forceXYZ();
  forceABC();
  forceFeed();
}

function forceFeed() {
  currentFeedId = undefined;
  feedOutput.reset();
}

function onParameter(name, value) {
}

var currentWorkPlaneABC = undefined;

function forceWorkPlane() {
  currentWorkPlaneABC = undefined;
}

function setWorkPlane(abc) {
  if (!machineConfiguration.isMultiAxisConfiguration()) {
    return; // ignore
  }

  if (!((currentWorkPlaneABC == undefined) ||
        abcFormat.areDifferent(abc.x, currentWorkPlaneABC.x) ||
        abcFormat.areDifferent(abc.y, currentWorkPlaneABC.y) ||
        abcFormat.areDifferent(abc.z, currentWorkPlaneABC.z))) {
    return; // no change
  }

  onCommand(COMMAND_UNLOCK_MULTI_AXIS);

  // NOTE: add retract here
  gMotionModal.reset();
  writeBlock(
    gMotionModal.format(0),
    conditional(machineConfiguration.isMachineCoordinate(0), "A" + abcFormat.format(abc.x)),
    conditional(machineConfiguration.isMachineCoordinate(1), "B" + abcFormat.format(abc.y)),
    conditional(machineConfiguration.isMachineCoordinate(2), "C" + abcFormat.format(abc.z))
  );

  onCommand(COMMAND_LOCK_MULTI_AXIS);

  currentWorkPlaneABC = abc;
}

var closestABC = false; // choose closest machine angles
var currentMachineABC;

function getWorkPlaneMachineABC(workPlane) {
  var W = workPlane; // map to global frame

  var abc = machineConfiguration.getABC(W);
  if (closestABC) {
    if (currentMachineABC) {
      abc = machineConfiguration.remapToABC(abc, currentMachineABC);
    } else {
      abc = machineConfiguration.getPreferredABC(abc);
    }
  } else {
    abc = machineConfiguration.getPreferredABC(abc);
  }

  try {
    abc = machineConfiguration.remapABC(abc);
    currentMachineABC = abc;
  } catch (e) {
    error(
      localize("Machine angles not supported") + ":"
      + conditional(machineConfiguration.isMachineCoordinate(0), " A" + abcFormat.format(abc.x))
      + conditional(machineConfiguration.isMachineCoordinate(1), " B" + abcFormat.format(abc.y))
      + conditional(machineConfiguration.isMachineCoordinate(2), " C" + abcFormat.format(abc.z))
    );
  }

  var direction = machineConfiguration.getDirection(abc);
  if (!isSameDirection(direction, W.forward)) {
    error(localize("Orientation not supported."));
    return new Vector();
  }

  if (!machineConfiguration.isABCSupported(abc)) {
    error(
      localize("Work plane is not supported") + ":"
      + conditional(machineConfiguration.isMachineCoordinate(0), " A" + abcFormat.format(abc.x))
      + conditional(machineConfiguration.isMachineCoordinate(1), " B" + abcFormat.format(abc.y))
      + conditional(machineConfiguration.isMachineCoordinate(2), " C" + abcFormat.format(abc.z))
    );
  }

  var tcp = false;
  if (tcp) {
    setRotation(W); // TCP mode
  } else {
    var O = machineConfiguration.getOrientation(abc);
    var R = machineConfiguration.getRemainingOrientation(abc, W);
    setRotation(R);
  }

  return abc;
}

function onSection() {
  var insertToolCall = isFirstSection() ||
    currentSection.getForceToolChange && currentSection.getForceToolChange() ||
    (tool.number != getPreviousSection().getTool().number);

  var retracted = false; // specifies that the tool has been retracted to the safe plane
  var newWorkOffset = isFirstSection() ||
    (getPreviousSection().workOffset != currentSection.workOffset); // work offset changes
  var newWorkPlane = isFirstSection() ||
    !isSameDirection(getPreviousSection().getGlobalFinalToolAxis(), currentSection.getGlobalInitialToolAxis());
  if (insertToolCall || newWorkOffset || newWorkPlane) {

    // retract to safe plane
    retracted = true;
    writeBlock(gMotionModal.format(0), gFormat.format(53), "Z" + xyzFormat.format(0));
    zOutput.reset();
  }

  writeln("");

  if (hasParameter("operation-comment")) {
    var comment = getParameter("operation-comment");
    if (comment) {
      writeComment(comment);
    }
  }

  if (insertToolCall) {
    forceWorkPlane();

    retracted = true;
    if (!isFirstSection()) {
      onCommand(COMMAND_COOLANT_OFF);
    }

    if (properties.useToolChanger) {
      writeBlock("T" + toolFormat.format(tool.number), mFormat.format(6));
    } else {
      if (!isFirstSection()) {
        onCommand(COMMAND_STOP_SPINDLE);
        writeComment(localize("Move to tool change position"));
        writeBlock(gMotionModal.format(0), gFormat.format(53), "X" + xyzFormat.format(properties.toolChangePositionX), "Y" + xyzFormat.format(properties.toolChangePositionY));
        writeBlock(mFormat.format(0), formatComment(localize("Pause program for tool change")));
      }
      writeBlock("T" + toolFormat.format(tool.number), mFormat.format(6) + " (" + getToolTypeName(tool.type) + " D=" + xyzFormat.format(tool.diameter) + (tool.description ? " " + tool.description : "") + ")");
    }
    if (tool.comment) {
      writeComment(tool.comment);
    }
    var showToolZMin = false;
    if (showToolZMin) {
      if (is3D()) {
        var numberOfSections = getNumberOfSections();
        var zRange = currentSection.getGlobalZRange();
        var number = tool.number;
        for (var i = currentSection.getId() + 1; i < numberOfSections; ++i) {
          var section = getSection(i);
          if (section.getTool().number != number) {
            break;
          }
          zRange.expandToRange(section.getGlobalZRange());
        }
        writeComment(localize("ZMIN") + "=" + zRange.getMinimum());
      }
    }
  }

  if (insertToolCall ||
    isFirstSection() ||
    (rpmFormat.areDifferent(tool.spindleRPM, sOutput.getCurrent())) ||
    (tool.clockwise != getPreviousSection().getTool().clockwise)) {
    if (tool.spindleRPM < 1) {
      error(localize("Spindle speed out of range."));
      return;
    }
    if (tool.spindleRPM > 99999) {
      warning(localize("Spindle speed exceeds maximum value."));
    }
    writeBlock(sOutput.format(tool.spindleRPM), mFormat.format(tool.clockwise ? 3 : 4));
  }

  if (properties.useSmoothing) {
    if (hasParameter("operation-strategy") && (getParameter("operation-strategy") == "drill")) {
      writeBlock(gFormat.format(61));
    } else {
      writeBlock(gFormat.format(64));
    }
  }

  // wcs
  if (insertToolCall) { // force work offset when changing tool
    currentWorkOffset = undefined;
  }
  var workOffset = currentSection.workOffset;
  if (workOffset == 0) {
    warningOnce(localize("Work offset has not been specified. Using G54 as WCS."), WARNING_WORK_OFFSET);
    workOffset = 1;
  }
  if (workOffset > 0) {
    if (workOffset > 6) {
      error(localize("Work offset out of range."));
      return;
    } else {
      if (workOffset != currentWorkOffset) {
        writeBlock(gFormat.format(53 + workOffset)); // G54->G59
        currentWorkOffset = workOffset;
      }
    }
  }

  forceXYZ();

  if (machineConfiguration.isMultiAxisConfiguration()) { // use 5-axis indexing for multi-axis mode
    // set working plane after datum shift

    var abc = new Vector(0, 0, 0);
    if (currentSection.isMultiAxis()) {
      forceWorkPlane();
      cancelTransformation();
      abc = currentSection.getInitialToolAxisABC();
    } else {
      abc = getWorkPlaneMachineABC(currentSection.workPlane);
    }
    setWorkPlane(abc);
  } else { // pure 3D
    var remaining = currentSection.workPlane;
    if (!isSameDirection(remaining.forward, new Vector(0, 0, 1))) {
      error(localize("Tool orientation is not supported."));
      return;
    }
    setRotation(remaining);
  }


  // set coolant after we have positioned at Z
  setCoolant(tool.coolant);

  forceAny();

  var initialPosition = getFramePosition(currentSection.getInitialPosition());
  if (!retracted) {
    if (getCurrentPosition().z < initialPosition.z) {
      writeBlock(gMotionModal.format(0), zOutput.format(initialPosition.z));
    }
  }

  if (insertToolCall || retracted) {
    var lengthOffset = tool.lengthOffset;
    if (lengthOffset > 99) {
      error(localize("Length offset out of range."));
      return;
    }

    gMotionModal.reset();
    if (!machineConfiguration.isHeadConfiguration()) {
      writeBlock(gFormat.format(43), hFormat.format(lengthOffset));
      writeBlock(
        gAbsIncModal.format(90),
        gMotionModal.format(0), xOutput.format(initialPosition.x), yOutput.format(initialPosition.y)
      );
      writeBlock(gMotionModal.format(0), zOutput.format(initialPosition.z));
    } else {
      writeBlock(gFormat.format(43), hFormat.format(lengthOffset));
      writeBlock(
        gAbsIncModal.format(90),
        gMotionModal.format(0),
        xOutput.format(initialPosition.x),
        yOutput.format(initialPosition.y),
        zOutput.format(initialPosition.z)
      );
    }
  } else {
    writeBlock(
      gAbsIncModal.format(90),
      gMotionModal.format(0),
      xOutput.format(initialPosition.x),
      yOutput.format(initialPosition.y)
    );
  }
}

var currentCoolantMode = COOLANT_OFF;

function setCoolant(coolant) {
  if (coolant == currentCoolantMode) {
    return; // coolant is already active
  }

  if (coolant == COOLANT_OFF) {
    writeBlock(mFormat.format(9));
    currentCoolantMode = COOLANT_OFF;
    return;
  }

  var m;
  switch (coolant) {
  case COOLANT_FLOOD:
    m = 8;
    break;
  case COOLANT_MIST:
    m = 7;
    break;
  default:
    onUnsupportedCoolant(coolant);
    m = 9;
  }

  if (m) {
    writeBlock(mFormat.format(m));
    currentCoolantMode = coolant;
  }
}

function onDwell(seconds) {
  if (seconds > 99999.999) {
    warning(localize("Dwelling time is out of range."));
  }
  seconds = clamp(0.001, seconds, 99999.999);
  writeBlock(gFormat.format(4), "P" + milliFormat.format(seconds * 1000));
}

function onSpindleSpeed(spindleSpeed) {
  writeBlock(sOutput.format(spindleSpeed));
}

function onCycle() {
}

function getCommonCycle(x, y, z, r) {
  forceXYZ();
  return [xOutput.format(x), yOutput.format(y),
    zOutput.format(z),
    (r !== undefined) ? "R" + xyzFormat.format(r) : ""];
}

function onCyclePoint(x, y, z) {
  var forceCycle = false;
  switch (cycleType) {
  case "tapping":
  case "left-tapping":
  case "right-tapping":
    if (!isFirstCyclePoint()) {
      onCommand(COMMAND_STOP_SPINDLE);
    }
    forceCycle = true;
  }

  if (forceCycle || isFirstCyclePoint()) {
    repositionToCycleClearance(cycle, x, y, z);

    // return to initial Z which is clearance plane and set absolute mode

    var F = cycle.feedrate;
    var P = (cycle.dwell == 0) ? 0 : clamp(1, cycle.dwell * 1000, 99999999); // in milliseconds

    switch (cycleType) {
    case "drilling":
      writeBlock(
        gAbsIncModal.format(90), gCycleModal.format(81),
        getCommonCycle(x, y, z, cycle.retract),
        feedOutput.format(F)
      );
      break;
    case "counter-boring":
      if (P > 0) {
        writeBlock(
          gAbsIncModal.format(90), gCycleModal.format(82),
          getCommonCycle(x, y, z, cycle.retract),
          "P" + milliFormat.format(P),
          feedOutput.format(F)
        );
      } else {
        writeBlock(
          gAbsIncModal.format(90), gCycleModal.format(81),
          getCommonCycle(x, y, z, cycle.retract),
          feedOutput.format(F)
        );
      }
      break;
    case "chip-breaking":
      if (P > 0) {
        expandCyclePoint(x, y, z);
      } else {
        writeBlock(
          gAbsIncModal.format(90), gCycleModal.format(73),
          getCommonCycle(x, y, z, cycle.retract),
          "Q" + xyzFormat.format(cycle.incrementalDepth),
          feedOutput.format(F)
        );
      }
      break;
    case "deep-drilling":
      if (P > 0) {
        expandCyclePoint(x, y, z);
      } else {
        writeBlock(
          gAbsIncModal.format(90), gCycleModal.format(83),
          getCommonCycle(x, y, z, cycle.retract),
          "Q" + xyzFormat.format(cycle.incrementalDepth),
          feedOutput.format(F)
        );
      }
      break;
    case "tapping":
      if (P > 0) {
        expandCyclePoint(x, y, z);
      } else {
        if (!isFirstCyclePoint()) {
          writeBlock(sOutput.format(tool.spindleRPM), mFormat.format(tool.clockwise ? 3 : 4));
        }
        writeBlock(
          gAbsIncModal.format(90), gCycleModal.format((tool.type == TOOL_TAP_LEFT_HAND) ? 33.2 : 33.1),
          zOutput.format(z),
          pitchOutput.format(tool.threadPitch)
        );
        gCycleModal.reset();
      }
      break;
    case "left-tapping":
      if (P > 0) {
        expandCyclePoint(x, y, z);
      } else {
        if (!isFirstCyclePoint()) {
          writeBlock(sOutput.format(tool.spindleRPM), mFormat.format(tool.clockwise ? 3 : 4));
        }
        writeBlock(
          gAbsIncModal.format(90), gCycleModal.format(33.2),
          zOutput.format(z),
          pitchOutput.format(tool.threadPitch)
        );
        gCycleModal.reset();
      }
      break;
    case "right-tapping":
      if (P > 0) {
        expandCyclePoint(x, y, z);
      } else {
        if (!isFirstCyclePoint()) {
          writeBlock(sOutput.format(tool.spindleRPM), mFormat.format(tool.clockwise ? 3 : 4));
        }
        writeBlock(
          gAbsIncModal.format(90), gCycleModal.format(33.1),
          zOutput.format(z),
          pitchOutput.format(tool.threadPitch)
        );
        gCycleModal.reset();
      }
      break;
    case "tapping-with-chip-breaking":
    case "left-tapping-with-chip-breaking":
    case "right-tapping-with-chip-breaking":
      error(localize("Tapping with chip breaking is not supported."));
      return;
    default:
      expandCyclePoint(x, y, z);
    }
  } else {
    if (cycleExpanded) {
      expandCyclePoint(x, y, z);
    } else {
      var _x = xOutput.format(x);
      var _y = yOutput.format(y);
      if (!_x && !_y) {
        xOutput.reset(); // at least one axis is required
        _x = xOutput.format(x);
      }
      writeBlock(_x, _y);
    }
  }
  if (forceCycle) {
    sOutput.reset();
  }
}

function onCycleEnd() {
  if (!cycleExpanded) {
    writeBlock(gCycleModal.format(80));
    zOutput.reset();
  }
}

var pendingRadiusCompensation = -1;

function onRadiusCompensation() {
  pendingRadiusCompensation = radiusCompensation;
  error(localize("Radius compensation is not supported for UCCNC. Please change the compensation type to 'in computer' for the toolpath."));
  return;
}

function onRapid(_x, _y, _z) {
  var x = xOutput.format(_x);
  var y = yOutput.format(_y);
  var z = zOutput.format(_z);
  if (x || y || z) {
    if (pendingRadiusCompensation >= 0) {
      error(localize("Radius compensation mode cannot be changed at rapid traversal."));
      return;
    }
    writeBlock(gMotionModal.format(0), x, y, z);
    feedOutput.reset();
  }
}

function onLinear(_x, _y, _z, feed) {
  // at least one axis is required
  if (pendingRadiusCompensation >= 0) {
    // ensure that we end at desired position when compensation is turned off
    xOutput.reset();
    yOutput.reset();
  }
  var x = xOutput.format(_x);
  var y = yOutput.format(_y);
  var z = zOutput.format(_z);
  var f = feedOutput.format(feed);
  if (x || y || z) {
    if (pendingRadiusCompensation >= 0) {
      pendingRadiusCompensation = -1;
      var d = tool.diameterOffset;
      switch (radiusCompensation) {
      case RADIUS_COMPENSATION_LEFT:
        writeBlock(
          gMotionModal.format(1), gFormat.format(41), x, y, z,
          conditional(properties.useToolChanger, "O" + xyzFormat.format(tool.diameter/2)), f
        );
        break;
      case RADIUS_COMPENSATION_RIGHT:
        writeBlock(
          gMotionModal.format(1), gFormat.format(42), x, y, z,
          conditional(properties.useToolChanger, "O" + xyzFormat.format(tool.diameter/2)), f
        );
        break;
      default:
        writeBlock(gMotionModal.format(1), gFormat.format(40), x, y, z, f);
      }
    } else {
      writeBlock(gMotionModal.format(1), x, y, z, f);
    }
  } else if (f) {
    if (getNextRecord().isMotion()) { // try not to output feed without motion
      feedOutput.reset(); // force feed on next line
    } else {
      writeBlock(gMotionModal.format(1), f);
    }
  }
}

function onRapid5D(_x, _y, _z, _a, _b, _c) {
  if (!currentSection.isOptimizedForMachine()) {
    error(localize("This post configuration has not been customized for 5-axis simultaneous toolpath."));
    return;
  }
  if (pendingRadiusCompensation >= 0) {
    error(localize("Radius compensation mode cannot be changed at rapid traversal."));
    return;
  }
  var x = xOutput.format(_x);
  var y = yOutput.format(_y);
  var z = zOutput.format(_z);
  var a = aOutput.format(_a);
  var b = bOutput.format(_b);
  var c = cOutput.format(_c);
  writeBlock(gMotionModal.format(0), x, y, z, a, b, c);
  feedOutput.reset();
}

function onLinear5D(_x, _y, _z, _a, _b, _c, feed) {
  if (!currentSection.isOptimizedForMachine()) {
    error(localize("This post configuration has not been customized for 5-axis simultaneous toolpath."));
    return;
  }
  // at least one axis is required
  if (pendingRadiusCompensation >= 0) {
    error(localize("Radius compensation cannot be activated/deactivated for 5-axis move."));
    return;
  }
  var x = xOutput.format(_x);
  var y = yOutput.format(_y);
  var z = zOutput.format(_z);
  var a = aOutput.format(_a);
  var b = bOutput.format(_b);
  var c = cOutput.format(_c);
  var f = feedOutput.format(feed);
  if (x || y || z || a || b || c) {
    writeBlock(gMotionModal.format(1), x, y, z, a, b, c, f);
  } else if (f) {
    if (getNextRecord().isMotion()) { // try not to output feed without motion
      feedOutput.reset(); // force feed on next line
    } else {
      writeBlock(gMotionModal.format(1), f);
    }
  }
}

function onCircular(clockwise, cx, cy, cz, x, y, z, feed) {
  if (pendingRadiusCompensation >= 0) {
    error(localize("Radius compensation cannot be activated/deactivated for a circular move."));
    return;
  }

  var start = getCurrentPosition();

  if (isFullCircle()) {
    if (isHelical()) {
      linearize(tolerance);
      return;
    }
    switch (getCircularPlane()) {
    case PLANE_XY:
      writeBlock(gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), iOutput.format(cx - start.x, 0), jOutput.format(cy - start.y, 0), feedOutput.format(feed));
      break;
    default:
      linearize(tolerance);
    }
  } else {
    switch (getCircularPlane()) {
    case PLANE_XY:
      writeBlock(gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), iOutput.format(cx - start.x, 0), jOutput.format(cy - start.y, 0), feedOutput.format(feed));
      break;
    default:
      linearize(tolerance);
    }
  }
}

var mapCommand = {
};

function onCommand(command) {
  switch (command) {
  case COMMAND_STOP:
    writeBlock(mFormat.format(2));
    return;
  case COMMAND_COOLANT_OFF:
    setCoolant(COOLANT_OFF);
    return;
  case COMMAND_START_SPINDLE:
    onCommand(tool.clockwise ? COMMAND_SPINDLE_CLOCKWISE : COMMAND_SPINDLE_COUNTERCLOCKWISE);
    return;
  case COMMAND_SPINDLE_CLOCKWISE:
    writeBlock(mFormat.format(3));
    return;
  case COMMAND_SPINDLE_COUNTERCLOCKWISE:
    writeBlock(mFormat.format(4));
    return;
  case COMMAND_STOP_SPINDLE:
    writeBlock(mFormat.format(5));
    return;
  case COMMAND_ORIENTATE_SPINDLE:
    return;
  case COMMAND_LOCK_MULTI_AXIS:
    return;
  case COMMAND_UNLOCK_MULTI_AXIS:
    return;
  case COMMAND_BREAK_CONTROL:
    return;
  case COMMAND_TOOL_MEASURE:
    return;
  }

  var stringId = getCommandStringId(command);
  var mcode = mapCommand[stringId];
  if (mcode != undefined) {
    writeBlock(mFormat.format(mcode));
  } else {
    onUnsupportedCommand(command);
  }
}

function onSectionEnd() {
  forceAny();
}

function onClose() {
  onCommand(COMMAND_COOLANT_OFF);
  onCommand(COMMAND_STOP_SPINDLE);

  writeBlock(gMotionModal.format(0), gFormat.format(53), "Z" + xyzFormat.format(0));

  setWorkPlane(new Vector(0, 0, 0)); // reset working plane
  // writeBlock(gFormat.format(28)); // retract
  writeBlock(mFormat.format(30));
  zOutput.reset();
}