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G12.1, G13.1: select the kinematics type from G-code #4414

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95cb7d1
G12.1, G13.1: select kinematics from G-code
grandixximo Aug 11, 2026
5dfb1b8
G12.1, G13.1: take the kinematics from motion on every synch
grandixximo Aug 11, 2026
5ae4567
motion: record the kinematics type only once the switch succeeds
grandixximo Aug 12, 2026
b387e3e
motion: deprecate selecting the kinematics type from HAL
grandixximo Aug 12, 2026
31bd177
motion: name the kinematics selection for what it is
grandixximo Aug 12, 2026
9dd4b5e
configs: select kinematics with G12.1 in the switchkins comp sims
grandixximo Aug 12, 2026
4ebcd25
configs: select kinematics with G12.1 in the remaining switchkins sims
grandixximo Aug 12, 2026
83c439a
docs: stop offering the deprecated pin as an equal way to switch
grandixximo Aug 12, 2026
9d18951
docs: lead with the deprecation notice for the switchkins pin
grandixximo Aug 12, 2026
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1 change: 0 additions & 1 deletion configs/sim/axis/vismach/5axis/bridgemill/5axis.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -41,7 +41,6 @@ CYCLE_TIME = 0.010
HALUI = halui
HALFILE = LIB:basic_sim.tcl
HALFILE = 5axisgui.hal
HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
POSTGUI_HALFILE = 5axis_postgui.hal

[HALUI]
Expand Down
17 changes: 3 additions & 14 deletions configs/sim/axis/vismach/5axis/bridgemill/remap_subs/428remap.ngc
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Original file line number Diff line number Diff line change
@@ -1,24 +1,13 @@
;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
G13.1 ; back to kinstype 0, syncs interp and motion

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)
o2 if [[#<_task> EQ 1] AND [#<_kins_type> NE #<kinstype>]]
(debug,M428: Wrong kinematics type)
(debug,STOP)
M2
o2 else
o2 endif

o<428remap>endsub
17 changes: 3 additions & 14 deletions configs/sim/axis/vismach/5axis/bridgemill/remap_subs/429remap.ngc
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Original file line number Diff line number Diff line change
@@ -1,24 +1,13 @@
;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
G12.1 P#<kinstype> ; select kinstype, syncs interp and motion

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)
o2 if [[#<_task> EQ 1] AND [#<_kins_type> NE #<kinstype>]]
(debug,M429:Wrong kinematics type)
(debug,STOP)
M2
o2 else
o2 endif

o<429remap>endsub
17 changes: 3 additions & 14 deletions configs/sim/axis/vismach/5axis/bridgemill/remap_subs/430remap.ngc
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Original file line number Diff line number Diff line change
@@ -1,24 +1,13 @@
;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
G12.1 P#<kinstype> ; select kinstype, syncs interp and motion

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)
o2 if [[#<_task> EQ 1] AND [#<_kins_type> NE #<kinstype>]]
(debug,M430:Wrong kinematics type)
(debug,STOP)
M2
o2 else
o2 endif

o<430remap>endsub
3 changes: 0 additions & 3 deletions configs/sim/axis/vismach/5axis/table-dual-rotary/README
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Original file line number Diff line number Diff line change
Expand Up @@ -28,9 +28,6 @@ For proper tool-path preview RELOAD THE CGODE after startup and after changing o
***********************************************
Note: IMPORTANT ini file requirements:

[HAL]
HALCMD = net :kinstype-select <= motion.analog-out-0N => motion.switchkins-type

[RS274NGC]
SUBROUTINE_PATH = ./remap_subs
REMAP = M428 modalgroup=10 ngc=428remap
Expand Down
21 changes: 5 additions & 16 deletions configs/sim/axis/vismach/5axis/table-dual-rotary/remap_subs/428remap.ngc
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Original file line number Diff line number Diff line change
@@ -1,24 +1,13 @@
;M428 by remap: kinstype==1 (xyzac,xyzbc) (note: sparm=identityfirst)
;M428 by remap: kinstype==1 (xyzab-tdr kinematics)
o<428remap>sub
#<kinstype> = 1 ; xyzac,xyzbc
#<SWITCHKINS_PIN> = 3 ; set N as required: motion.analog-out-0N
#<kinstype> = 1 ; xyzab-tdr

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
G12.1 P#<kinstype> ; select kinstype, syncs interp and motion

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)
o2 if [[#<_task> EQ 1] AND [#<_kins_type> NE #<kinstype>]]
(debug,M428: Wrong kinematics type)
(debug,STOP)
M2
o2 else
o2 endif

o<428remap>endsub
17 changes: 3 additions & 14 deletions configs/sim/axis/vismach/5axis/table-dual-rotary/remap_subs/429remap.ngc
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Original file line number Diff line number Diff line change
@@ -1,24 +1,13 @@
;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
G13.1 ; back to kinstype 0, syncs interp and motion

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)
o2 if [[#<_task> EQ 1] AND [#<_kins_type> NE #<kinstype>]]
(debug,M429: Wrong kinematics type)
(debug,STOP)
M2
o2 else
o2 endif

o<429remap>endsub
10 changes: 4 additions & 6 deletions configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -25,8 +25,8 @@ SUBROUTINE_PATH = ./remap_subs

[KINS]
#NOTE:
# switchkins-type == 0 is identity kins
# switchkins-type == 1 is xyzab-tdr-kins
# kinstype 0 is identity kins
# kinstype 1 is xyzab-tdr-kins

KINEMATICS = xyzab_tdr_kins
JOINTS = 5
Expand All @@ -36,8 +36,6 @@ KINEMATICS = xyzab_tdr_kins
HALFILE = LIB:basic_sim.tcl
POSTGUI_HALFILE = xyzab-tdr-postgui.hal

# net for control of motion.switchkins-type
HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type

# Values '(x,z)-offsets' for geometric offset of the rotary-assembly and the
# values '(x,y,z)-rot-point' that describe the position of the
Expand Down Expand Up @@ -76,8 +74,8 @@ HALCMD = sets :x-offset -20
HALCMD = sets :z-offset -10

[HALUI]
# M429:identity kins (motion.switchkins-type==0 startupDEFAULT)
# M428:xyzab-tdr kins (motion.switchkins-type==1)
# M429:identity kins (kinstype 0, startupDEFAULT)
# M428:xyzab-tdr kins (kinstype 1)
MDI_COMMAND = M429
MDI_COMMAND = M428

Expand Down
3 changes: 0 additions & 3 deletions configs/sim/axis/vismach/5axis/table-rotary-tilting/README
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Original file line number Diff line number Diff line change
Expand Up @@ -17,9 +17,6 @@ Demonstrations:
***********************************************
Note: IMPORTANT ini file requirements:

[HAL]
HALCMD = net :kinstype-select <= motion.analog-out-0N => motion.switchkins-type

[RS274NGC]
SUBROUTINE_PATH = ./remap_subs
REMAP = M428 modalgroup=10 ngc=428remap
Expand Down
17 changes: 3 additions & 14 deletions configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc
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Original file line number Diff line number Diff line change
@@ -1,24 +1,13 @@
;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
G12.1 P#<kinstype> ; select kinstype, syncs interp and motion

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)
o2 if [[#<_task> EQ 1] AND [#<_kins_type> NE #<kinstype>]]
(debug,M428: Wrong kinematics type)
(debug,STOP)
M2
o2 else
o2 endif

o<428remap>endsub
17 changes: 3 additions & 14 deletions configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/429remap.ngc
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Original file line number Diff line number Diff line change
@@ -1,24 +1,13 @@
;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
G13.1 ; back to kinstype 0, syncs interp and motion

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)
o2 if [[#<_task> EQ 1] AND [#<_kins_type> NE #<kinstype>]]
(debug,M429:Wrong kinematics type)
(debug,STOP)
M2
o2 else
o2 endif

o<429remap>endsub
17 changes: 3 additions & 14 deletions configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/430remap.ngc
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Original file line number Diff line number Diff line change
@@ -1,24 +1,13 @@
;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
G12.1 P#<kinstype> ; select kinstype, syncs interp and motion

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)
o2 if [[#<_task> EQ 1] AND [#<_kins_type> NE #<kinstype>]]
(debug,M430:Wrong kinematics type)
(debug,STOP)
M2
o2 else
o2 endif

o<430remap>endsub
3 changes: 1 addition & 2 deletions configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins.halshow
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Original file line number Diff line number Diff line change
@@ -1,5 +1,4 @@
pin+motion.analog-out-03
pin+motion.switchkins-type
pin+motion.kins-type

pin+joint.0.pos-cmd
pin+joint.1.pos-cmd
Expand Down
12 changes: 5 additions & 7 deletions configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -38,8 +38,8 @@ SUBROUTINE_PATH = ./remap_subs

[KINS]
#NOTE: for backwrds compatibility !!!!!!!!!!!!!!!!!!!
# default switchkins-type == 0 is xyzac-trt-kins
# here switchkins-type == 0 is identity kins
# default kinstype 0 is xyzac-trt-kins
# here kinstype 0 is identity kins
KINEMATICS = xyzac-trt-kins sparm=identityfirst
JOINTS = 5

Expand All @@ -48,8 +48,6 @@ KINEMATICS = xyzac-trt-kins sparm=identityfirst
HALFILE = LIB:basic_sim.tcl
POSTGUI_HALFILE = switchkins_postgui.hal

# net for control of motion.switchkins-type
HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type

# vismach xyzac-trt-gui items
HALCMD = loadusr -W xyzac-trt-gui
Expand All @@ -73,9 +71,9 @@ HALCMD = setp xyzac-trt-kins.conventional-directions 0

[HALUI]
# NOTE: kinstype==0 is identity kins because sparm=identityfirst
# M429:identity kins (motion.switchkins-type==0 startupDEFAULT)
# M428:xyzac kins (motion.switchkins-type==1)
# M430:userk kins (motion.switchkins-type==2)
# M429:identity kins (kinstype 0, startupDEFAULT)
# M428:xyzac kins (kinstype 1)
# M430:userk kins (kinstype 2)
MDI_COMMAND = M429
MDI_COMMAND = M428
MDI_COMMAND = M430
Expand Down
8 changes: 3 additions & 5 deletions configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -6,11 +6,9 @@ Uses remapped user m codes for kins switch:
M428: XYZAC (TCP)
M430: userk Kinematics

A hal net is required to connect the
analog out pin N, Example (for N=3):

net :kinstype-select <= motion.analog-out-03
net :kinstype-select => motion.switchkins-type
The kinematics type is selected with
G12.1 and G13.1, no hal connection is
required.

Hal Input pins:
xyzac-trt-kins.y-offset
Expand Down
12 changes: 5 additions & 7 deletions configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -38,8 +38,8 @@ SUBROUTINE_PATH = ./remap_subs

[KINS]
#NOTE: for backwrds compatibility !!!!!!!!!!!!!!!!!!!
# default switchkins-type == 0 is xyzbc-trt-kins
# here switchkins-type == 0 is identity kins
# default kinstype 0 is xyzbc-trt-kins
# here kinstype 0 is identity kins
KINEMATICS = xyzbc-trt-kins sparm=identityfirst
JOINTS = 5

Expand All @@ -48,8 +48,6 @@ KINEMATICS = xyzbc-trt-kins sparm=identityfirst
HALFILE = LIB:basic_sim.tcl
POSTGUI_HALFILE = switchkins_postgui.hal

# net for control of motion.switchkins-type
HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type

# vismach xyzbc-trt-gui items
HALCMD = loadusr -W xyzbc-trt-gui
Expand All @@ -73,9 +71,9 @@ HALCMD = setp xyzbc-trt-kins.conventional-directions 0

[HALUI]
# NOTE: kinstype==0 is identity kins because sparm=identityfirst
# M429:identity kins (motion.switchkins-type==0 startupDEFAULT)
# M428:xyzbc kins (motion.switchkins-type==1)
# M430:userk kins (motion.switchkins-type==2)
# M429:identity kins (kinstype 0, startupDEFAULT)
# M428:xyzbc kins (kinstype 1)
# M430:userk kins (kinstype 2)
MDI_COMMAND = M429
MDI_COMMAND = M428
MDI_COMMAND = M430
Expand Down
8 changes: 3 additions & 5 deletions configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -6,11 +6,9 @@ Uses remapped user m codes for kins switch:
M428: XYZBC (TCP)
M430: userk Kinematics

A hal net is required to connect the
analog out pin N, Example (for N=3):

net :kinstype-select <= motion.analog-out-03
net :kinstype-select => motion.switchkins-type
The kinematics type is selected with
G12.1 and G13.1, no hal connection is
required.

Hal Input pins:
xyzbc-trt-kins.x-offset
Expand Down
2 changes: 1 addition & 1 deletion configs/sim/axis/vismach/5axis/table-rotary_spindle-rotary-nutating/python/remap.py
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Original file line number Diff line number Diff line change
Expand Up @@ -871,7 +871,7 @@ def g53x_core(self):
# switch to the dedicated TWP work offsets
self.execute("G59", lineno())
# activate TOOL kinematics
self.execute("M68 E3 Q2")
self.execute("G12.1 P2")
if (x,y,z) != (None,None,None):
log.debug('G53.3 called')
self.execute("G0 X%s Y%s Z%s %s%f %s%f" % (x, y, z, joint_letter_secondary, degrees(theta_2), joint_letter_primary, degrees(theta_1)), lineno())
Expand Down
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