/**
  Copyright (C) 2012-2023 by Autodesk, Inc.
  All rights reserved.

  NUM post processor configuration.

  $Revision: 44080 7098e6d148aa6ea195b42597d82fe2f00d0115bb $
  $Date: 2023-07-17 12:38:58 $

  FORKID {8B1FC740-38BD-4cb2-9CD5-94A55CBE87A5}
*/

description = "NUM";
vendor = "NUM";
vendorUrl = "http://www.num.com";
legal = "Copyright (C) 2012-2023 by Autodesk, Inc.";
certificationLevel = 2;
minimumRevision = 45917;

longDescription = "Generic milling post for NUM.";

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

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

minimumChordLength = spatial(0.25, MM);
minimumCircularRadius = spatial(0.01, MM);
maximumCircularRadius = spatial(1000, MM);
minimumCircularSweep = toRad(0.01);
maximumCircularSweep = toRad(5400);
allowHelicalMoves = true;
allowedCircularPlanes = undefined; // allow any circular motion

// user-defined properties
properties = {
  writeMachine: {
    title      : "Write machine",
    description: "Output the machine settings in the header of the code.",
    group      : "formats",
    type       : "boolean",
    value      : true,
    scope      : "post"
  },
  writeTools: {
    title      : "Write tool list",
    description: "Output a tool list in the header of the code.",
    group      : "formats",
    type       : "boolean",
    value      : true,
    scope      : "post"
  },
  preloadTool: {
    title      : "Preload tool",
    description: "Preloads the next tool at a tool change (if any).",
    group      : "preferences",
    type       : "boolean",
    value      : true,
    scope      : "post"
  },
  showSequenceNumbers: {
    title      : "Use sequence numbers",
    description: "'Yes' outputs sequence numbers on each block, 'Only on tool change' outputs sequence numbers on tool change blocks only, and 'No' disables the output of sequence numbers.",
    group      : "formats",
    type       : "enum",
    values     : [
      {title:"Yes", id:"true"},
      {title:"No", id:"false"},
      {title:"Only on tool change", id:"toolChange"}
    ],
    value: "true",
    scope: "post"
  },
  sequenceNumberStart: {
    title      : "Start sequence number",
    description: "The number at which to start the sequence numbers.",
    group      : "formats",
    type       : "integer",
    value      : 10,
    scope      : "post"
  },
  sequenceNumberIncrement: {
    title      : "Sequence number increment",
    description: "The amount by which the sequence number is incremented by in each block.",
    group      : "formats",
    type       : "integer",
    value      : 5,
    scope      : "post"
  },
  optionalStop: {
    title      : "Optional stop",
    description: "Outputs optional stop code during when necessary in the code.",
    group      : "preferences",
    type       : "boolean",
    value      : true,
    scope      : "post"
  },
  separateWordsWithSpace: {
    title      : "Separate words with space",
    description: "Adds spaces between words if 'yes' is selected.",
    group      : "formats",
    type       : "boolean",
    value      : true,
    scope      : "post"
  },
  useRadius: {
    title      : "Radius arcs",
    description: "If yes is selected, arcs are outputted using radius values rather than IJK.",
    group      : "preferences",
    type       : "boolean",
    value      : false,
    scope      : "post"
  },
  showNotes: {
    title      : "Show notes",
    description: "Writes operation notes as comments in the outputted code.",
    group      : "formats",
    type       : "boolean",
    value      : false,
    scope      : "post"
  },
  safePositionMethod: {
    title      : "Safe Retracts",
    description: "Select your desired retract option. 'Clearance Height' retracts to the operation clearance height.",
    group      : "homePositions",
    type       : "enum",
    values     : [
      {title:"Clearance Height", id:"clearanceHeight"},
      {title:"G52", id:"G52"}
    ],
    value: "G52",
    scope: "post"
  },
  controllerType: {
    title      : "Controller version",
    description: "Select the family of controller.",
    group      : "configuration",
    type       : "enum",
    values     : [
      {title:"NUM 7xx", id:"NUM7x0"},
      {title:"NUM 10xx", id:"NUM10x0"}
    ],
    value: "NUM7x0",
    scope: "post"
  },
  tcMoveType: {
    title      : "Safe tool change move",
    description: "Specifies if we need to move to a safe location to change tool and in which order.",
    group      : "toolChange",
    type       : "enum",
    values     : [
      {title:"Disabled", id:"disable"},
      {title:"Simultaneous", id:"all"},
      {title:"Z then XY", id:"ZX"},
      {title:"XY only", id:"XY"}
    ],
    value: "disable",
    scope: "post"
  },
  tcPositionX: {
    title      : "G52 Tool Change position X",
    description: "G52 X-axis Tool Change position.",
    group      : "toolChange",
    type       : "number",
    value      : 0,
    scope      : "post"
  },
  tcPositionY: {
    title      : "G52 Tool Change position Y",
    description: "G52 Y-axis Tool Change position.",
    group      : "toolChange",
    type       : "number",
    value      : 0,
    scope      : "post"
  },
  tcPositionZ: {
    title      : "G52 Tool Change position Z",
    description: "G52 Z-axis Tool Change position.",
    group      : "toolChange",
    type       : "number",
    value      : 0,
    scope      : "post"
  }
};

// wcs definiton
wcsDefinitions = {
  useZeroOffset: false,
  wcs          : [
    {name:"Standard", format:"#", range:[1, 1]}
  ]
};

var gFormat = createFormat({prefix:"G", width:2, zeropad:true, decimals:0});
var mFormat = createFormat({prefix:"M", width:2, zeropad:true, decimals:0});
var hFormat = createFormat({prefix:"H", width:2, zeropad:true, decimals:0});
var diameterOffsetFormat = createFormat({prefix:"D", width:2, zeropad:true, decimals:0});

var xyzFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true});
var rFormat = xyzFormat; // radius
var abcFormat = createFormat({decimals:3, forceDecimal:true, scale:DEG});
var feedFormat = createFormat({decimals:(unit == MM ? 0 : 1), forceDecimal:true});
var pitchFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true});
var toolFormat = createFormat({width:2, zeropad:true, decimals:0});
var rpmFormat = createFormat({decimals:0});
var secFormat = createFormat({decimals:2, forceDecimal:true}); // seconds - range 0.01-99.99
var taperFormat = createFormat({decimals:1, scale:DEG});

var xOutput = createVariable({prefix:"X"}, xyzFormat);
var yOutput = createVariable({prefix:"Y"}, xyzFormat);
var zOutput = createVariable({onchange:function () {retracted = false;}, 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 pitchOutput = createVariable({prefix:"K", force:true}, pitchFormat);
var sOutput = createVariable({prefix:"S", force:true}, rpmFormat);

// circular output
var iOutput = createVariable({prefix:"I", force:true}, xyzFormat);
var jOutput = createVariable({prefix:"J", force:true}, xyzFormat);
var kOutput = createVariable({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 // G70-71
var gCycleModal = createModal({}, gFormat); // modal group 9 // G81, ...
var gRetractModal = createModal({}, gFormat); // modal group 10 // G98-99
var mClampModal = createModalGroup(
  {strict:false},
  [
    [10, 11] // 4th axis clamp / unclamp
    //[12, 13] // 5th axis clamp / unclamp
  ],
  mFormat
);

var settings = {
  coolant: {
    // samples:
    // {id: COOLANT_THROUGH_TOOL, on: 88, off: 89}
    // {id: COOLANT_THROUGH_TOOL, on: [8, 88], off: [9, 89]}
    // {id: COOLANT_THROUGH_TOOL, on: "M88 P3 (myComment)", off: "M89"}
    coolants: [
      {id:COOLANT_FLOOD, on:8},
      {id:COOLANT_MIST, on:7},
      {id:COOLANT_THROUGH_TOOL},
      {id:COOLANT_AIR},
      {id:COOLANT_AIR_THROUGH_TOOL},
      {id:COOLANT_SUCTION},
      {id:COOLANT_FLOOD_MIST},
      {id:COOLANT_FLOOD_THROUGH_TOOL},
      {id:COOLANT_OFF, off:9}
    ],
    singleLineCoolant: false, // specifies to output multiple coolant codes in one line rather than in separate lines
  },
  retract: {
    cancelRotationOnRetracting: false, // specifies that rotations (G68) need to be canceled prior to retracting
    methodXY                  : undefined, // special condition, overwrite retract behavior per axis
    methodZ                   : undefined, // special condition, overwrite retract behavior per axis
    useZeroValues             : ["G28", "G30"] // enter property value id(s) for using "0" value instead of machineConfiguration axes home position values (ie G30 Z0)
  },
  machineAngles: { // refer to https://cam.autodesk.com/posts/reference/classMachineConfiguration.html#a14bcc7550639c482492b4ad05b1580c8
    controllingAxis: ABC,
    type           : PREFER_PREFERENCE,
    options        : ENABLE_ALL
  },
  workPlaneMethod: {
    useTiltedWorkplane    : false, // specifies that tilted workplanes should be used (ie. G68.2, G254, PLANE SPATIAL, CYCLE800), can be overwritten by property
    eulerConvention       : EULER_ZXZ_R, // specifies the euler convention (ie EULER_XYZ_R), set to undefined to use machine angles for TWP commands ('undefined' requires machine configuration)
    eulerCalculationMethod: "standard", // ('standard' / 'machine') 'machine' adjusts euler angles to match the machines ABC orientation, machine configuration required
    cancelTiltFirst       : true, // cancel tilted workplane prior to WCS (G54-G59) blocks
    useABCPrepositioning  : false, // position ABC axes prior to tilted workplane blocks
    forceMultiAxisIndexing: false, // force multi-axis indexing for 3D programs
    optimizeType          : undefined // can be set to OPTIMIZE_NONE, OPTIMIZE_BOTH, OPTIMIZE_TABLES, OPTIMIZE_HEADS, OPTIMIZE_AXIS. 'undefined' uses legacy rotations
  },
  comments: {
    permittedCommentChars: " abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ0123456789.,=_-:",
    prefix               : "(", // specifies the prefix for the comment
    suffix               : ")", // specifies the suffix for the comment
    upperCase            : true, // set to true to output all comments in upper case
    maximumLineLength    : 80, // the maximum number of charaters allowed in a line, set to 0 to disable comment output
  },
  maximumSequenceNumber       : undefined, // the maximum sequence number (Nxxx), use 'undefined' for unlimited
  supportsOptionalBlocks      : false, // specifies if optional block output is supported
  supportsTCP                 : false, // specifies if the postprocessor does support TCP
  outputToolLengthCompensation: false, // specifies if tool length compensation code should be output (G43)
  outputToolLengthOffset      : false // specifies if tool length offset code should be output (Hxx)
};

function writeProgramNumber() {
  if (programName) {
    var programId;
    try {
      programId = getAsInt(programName);
    } catch (e) {
      error(localize("Program name must be a number."));
      return;
    }
    if (programId > 9000) {
      warning(localize("Using NUM reserved program number."));
    }
    writeln("%" + programId + conditional(programComment, " " + formatComment(programComment)));
  } else {
    writeln("%");
  }
}

function onOpen() {
  // define and enable machine configuration
  receivedMachineConfiguration = machineConfiguration.isReceived();
  if (typeof defineMachine == "function") {
    defineMachine(); // hardcoded machine configuration
  }
  activateMachine(); // enable the machine optimizations and settings

  if (getProperty("useRadius")) {
    maximumCircularSweep = toRad(90); // avoid potential center calculation errors for CNC
  }
  if (!getProperty("separateWordsWithSpace")) {
    setWordSeparator("");
  }

  writeProgramNumber();
  writeProgramHeader();
  // absolute coordinates and feed per min
  writeBlock(gAbsIncModal.format(90), gFeedModeModal.format(94), gPlaneModal.format(17));
  writeBlock(gUnitModal.format(unit == MM ? 71 : 70));
  validateCommonParameters();
}

function onParameter(name, value) {
}

function onSection() {
  var forceSectionRestart = optionalSection && !currentSection.isOptional();
  optionalSection = currentSection.isOptional();
  var insertToolCall = isToolChangeNeeded("number") || forceSectionRestart;
  var newWorkOffset = isNewWorkOffset() || forceSectionRestart;
  var newWorkPlane = isNewWorkPlane() || forceSectionRestart;
  if (insertToolCall || newWorkOffset || newWorkPlane) {
    if (insertToolCall && !isFirstSection()) {
      onCommand(COMMAND_STOP_SPINDLE); // stop spindle before retract during tool change
    }
    writeRetract(Z); // retract
  }

  writeComment(getParameter("operation-comment", ""));

  if (getProperty("showNotes")) {
    writeSectionNotes();
  }

  // tool change
  writeToolCall(tool, insertToolCall);
  startSpindle(tool, insertToolCall);

  // Output modal commands here
  writeBlock(gAbsIncModal.format(90), gFeedModeModal.format(94), gPlaneModal.format(17));

  forceXYZ();
  var abc = defineWorkPlane(currentSection, true);

  setCoolant(tool.coolant); // writes the required coolant codes

  forceAny();

  // prepositioning
  var initialPosition = getFramePosition(currentSection.getInitialPosition());
  var isRequired = insertToolCall || retracted || !lengthCompensationActive  || (!isFirstSection() && getPreviousSection().isMultiAxis());
  writeInitialPositioning(initialPosition, isRequired);
}

function onDwell(seconds) {
  if (seconds > 99.99) {
    warning(localize("Dwelling time is out of range."));
  }
  seconds = clamp(0.01, seconds, 99.99);
  writeBlock(gFormat.format(4), "F" + secFormat.format(seconds));
}

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

function onCycle() {
  writeBlock(gPlaneModal.format(17));
}

function getCommonCycle(x, y, z, er, cl) {
  forceXYZ();
  if (getProperty("controllerType") == "NUM10x0") {
    return [xOutput.format(x), yOutput.format(y),
      zOutput.format(z),
      "EH" + xyzFormat.format(er),
      "ER" + xyzFormat.format(cl)];
  } else {
    return [xOutput.format(x), yOutput.format(y),
      zOutput.format(z),
      "ER" + xyzFormat.format(er)];
  }
}

function onCyclePoint(x, y, z) {
  var forward;
  if (currentSection.isOptimizedForMachine()) {
    forward = machineConfiguration.getOptimizedDirection(currentSection.workPlane.forward, getCurrentDirection(), false, false);
  } else {
    forward = getRotation().forward;
  }

  if (!isSameDirection(forward, new Vector(0, 0, 1))) {
    expandCyclePoint(x, y, z);
    return;
  }
  // check if we can group the drilling or not
  var cycleRequiresRetract = xyzFormat.areDifferent(cycle.retract, cycle.clearance);
  if (getProperty("controllerType") == "NUM10x0") {
    cycleRequiresRetract = false; // retract handled by EH/ER
  }

  if (isFirstCyclePoint() || cycleRequiresRetract) {
    repositionToCycleClearance(cycle, getCurrentPosition().x, getCurrentPosition().y, z);

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

    var F = cycle.feedrate;
    var EF = (cycle.dwell == 0) ? 0 : clamp(0.01, cycle.dwell, 99.99); // in seconds

    switch (cycleType) {
    case "drilling":
      writeBlock(
        gAbsIncModal.format(90), gCycleModal.format(81),
        getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
        feedOutput.format(F)
      );
      break;
    case "counter-boring":
      if (EF > 0) {
        writeBlock(
          gAbsIncModal.format(90), gCycleModal.format(82),
          getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
          "EF" + secFormat.format(EF),
          feedOutput.format(F)
        );
      } else {
        writeBlock(
          gAbsIncModal.format(90), gCycleModal.format(81),
          getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
          feedOutput.format(F)
        );
      }
      break;
    case "chip-breaking":
      if (cycle.accumulatedDepth < cycle.depth) {
        expandCyclePoint(x, y, z);
      } else {
        writeBlock(
          gAbsIncModal.format(90), gCycleModal.format(87),
          getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
          "P" + xyzFormat.format(cycle.incrementalDepth),
          conditional(EF > 0, "EF" + secFormat.format(EF)),
          feedOutput.format(F)
        );
      }
      break;
    case "deep-drilling":
      writeBlock(
        gAbsIncModal.format(90), gCycleModal.format(83),
        getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
        "P" + xyzFormat.format(cycle.incrementalDepth),
        conditional(EF > 0, "EF" + secFormat.format(EF)),
        feedOutput.format(F)
      );
      break;
    case "tapping":
      writeBlock(
        gAbsIncModal.format(90), gCycleModal.format(84),
        getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
        pitchOutput.format(tool.threadPitch)
      );
      break
    case "left-tapping":
    case "right-tapping":
      if (!F) {
        F = tool.getTappingFeedrate();
      }
      writeBlock(
        gAbsIncModal.format(90), gCycleModal.format(84),
        getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
        "EF" + secFormat.format(EF),
        feedOutput.format(F)
      );
      break;
    case "fine-boring":
      writeBlock(
        gAbsIncModal.format(90), gCycleModal.format(86),
        getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
        // "EC" + xyzFormat.format(...),
        feedOutput.format(F)
      );
      break;
    case "reaming":
      if (EF > 0) {
        writeBlock(
          gAbsIncModal.format(90), gCycleModal.format(89),
          getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
          "EF" + secFormat.format(EF),
          feedOutput.format(F)
        );
      } else {
        writeBlock(
          gAbsIncModal.format(90), gCycleModal.format(85),
          getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
          feedOutput.format(F),
          "EF" + feedFormat.format(cycle.retractFeedrate)
        );
      }
      break;
    case "stop-boring":
      if (EF > 0) {
        expandCyclePoint(x, y, z);
      } else {
        writeBlock(
          gAbsIncModal.format(90), gCycleModal.format(86),
          getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
          feedOutput.format(F)
        );
      }
      break;
    case "manual-boring":
      writeBlock(
        gAbsIncModal.format(90), gCycleModal.format(88),
        getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
        "EF" + secFormat.format(EF), // not optional
        feedOutput.format(F)
      );
      break;
    case "boring":
      if (EF > 0) {
        writeBlock(
          gAbsIncModal.format(90), gCycleModal.format(89),
          getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
          "EF" + secFormat.format(EF),
          feedOutput.format(F)
        );
      } else {
        writeBlock(
          gAbsIncModal.format(90), gCycleModal.format(85),
          getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
          feedOutput.format(F),
          "EF" + feedFormat.format(cycle.retractFeedrate)
        );
      }
      break;
    default:
      expandCyclePoint(x, y, z);
    }
    if (cycleRequiresRetract && !cycleExpanded) {
      writeBlock(gCycleModal.format(80));
      gMotionModal.reset();
    }
  } else {
    if (cycleExpanded) {
      expandCyclePoint(x, y, z);
    } else {
      writeBlock(xOutput.format(x), yOutput.format(y));
    }
  }
}

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

function onLinear(_x, _y, _z, feed) {
  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 = diameterOffsetFormat.format(tool.diameterOffset);
      switch (radiusCompensation) {
      case RADIUS_COMPENSATION_LEFT:
        writeBlock(gPlaneModal.format(17), d, gMotionModal.format(1), gFormat.format(41), x, y, z, f);
        break;
      case RADIUS_COMPENSATION_RIGHT:
        writeBlock(gPlaneModal.format(17), d, gMotionModal.format(1), gFormat.format(42), x, y, z, 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 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;
  }
  switch (getCircularPlane()) {
  case PLANE_XY:
    xOutput.reset();
    yOutput.reset();
    break;
  case PLANE_ZX:
    xOutput.reset();
    zOutput.reset();
    break;
  case PLANE_YZ:
    yOutput.reset();
    zOutput.reset();
    break;
  }

  // the maximum allowed radius difference is 20um
  if (isFullCircle()) {
    if (getProperty("useRadius") || isHelical()) { // radius mode does not support full arcs
      linearize(tolerance);
      return;
    }
    switch (getCircularPlane()) {
    case PLANE_XY:
      writeBlock(gAbsIncModal.format(90), gPlaneModal.format(17), gMotionModal.format(clockwise ? 2 : 3), iOutput.format(cx), jOutput.format(cy), feedOutput.format(feed));
      break;
    case PLANE_ZX:
      writeBlock(gAbsIncModal.format(90), gPlaneModal.format(18), gMotionModal.format(clockwise ? 2 : 3), iOutput.format(cx), kOutput.format(cz), feedOutput.format(feed));
      break;
    case PLANE_YZ:
      writeBlock(gAbsIncModal.format(90), gPlaneModal.format(19), gMotionModal.format(clockwise ? 2 : 3), jOutput.format(cy), kOutput.format(cz), feedOutput.format(feed));
      break;
    default:
      linearize(tolerance);
    }
  } else if (!getProperty("useRadius")) {
    switch (getCircularPlane()) {
    case PLANE_XY:
      writeBlock(gAbsIncModal.format(90), gPlaneModal.format(17), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), iOutput.format(cx), jOutput.format(cy), conditional(isHelical(), "K" + xyzFormat.format(getHelicalPitch())), feedOutput.format(feed));
      break;
    case PLANE_ZX:
      writeBlock(gAbsIncModal.format(90), gPlaneModal.format(18), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), iOutput.format(cx), kOutput.format(cz), conditional(isHelical(), "J" + xyzFormat.format(getHelicalPitch())), feedOutput.format(feed));
      break;
    case PLANE_YZ:
      writeBlock(gAbsIncModal.format(90), gPlaneModal.format(19), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), jOutput.format(cy), kOutput.format(cz), conditional(isHelical(), "I" + xyzFormat.format(getHelicalPitch())), feedOutput.format(feed));
      break;
    default:
      linearize(tolerance);
    }
  } else { // use radius mode
    var r = getCircularRadius();
    if (toDeg(getCircularSweep()) > (180 + 1e-9)) {
      error(localize("Circular interpolation over 180 degrees cannot be handled by radius programming. Set property 'Radius arcs' to 'No'."));
      return;
    }
    switch (getCircularPlane()) {
    case PLANE_XY:
      writeBlock(gPlaneModal.format(17), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), "R" + rFormat.format(r), conditional(isHelical(), "K" + xyzFormat.format(getHelicalPitch())), feedOutput.format(feed));
      break;
    case PLANE_ZX:
      writeBlock(gPlaneModal.format(18), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), "R" + rFormat.format(r), conditional(isHelical(), "J" + xyzFormat.format(getHelicalPitch())), feedOutput.format(feed));
      break;
    case PLANE_YZ:
      writeBlock(gPlaneModal.format(19), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), "R" + rFormat.format(r), conditional(isHelical(), "I" + xyzFormat.format(getHelicalPitch())), feedOutput.format(feed));
      break;
    default:
      linearize(tolerance);
    }
  }
}

var mapCommand = {
  COMMAND_END              : 2,
  COMMAND_STOP_SPINDLE     : 5,
  COMMAND_ORIENTATE_SPINDLE: 19
};

function onCommand(command) {
  switch (command) {
  case COMMAND_COOLANT_OFF:
    setCoolant(COOLANT_OFF);
    return;
  case COMMAND_COOLANT_ON:
    setCoolant(tool.coolant);
    return;
  case COMMAND_STOP:
    writeBlock(mFormat.format(0));
    forceSpindleSpeed = true;
    forceCoolant = true;
    return;
  case COMMAND_OPTIONAL_STOP:
    writeBlock(mFormat.format(1));
    forceSpindleSpeed = true;
    forceCoolant = true;
    return;
  case COMMAND_START_SPINDLE:
    forceSpindleSpeed = false;
    writeBlock(gFormat.format(97), sOutput.format(spindleSpeed), mFormat.format(tool.clockwise ? 3 : 4));
    return;
  case COMMAND_LOAD_TOOL:
    //writeToolBlock("T" + toolFormat.format(tool.number), mFormat.format(6));
    writeToolBlock("T" + toolFormat.format(tool.number), ("D" + toolFormat.format(tool.diameterOffset)), mFormat.format(6));
    writeComment(tool.comment);

    var preloadTool = getNextTool(tool.number != getFirstTool().number);
    if (getProperty("preloadTool") && preloadTool) {
      writeBlock("T" + toolFormat.format(preloadTool.number)); // preload next/first tool
    }
    return;
  case COMMAND_LOCK_MULTI_AXIS:
    writeBlock(mClampModal.format(10));
    return;
  case COMMAND_UNLOCK_MULTI_AXIS:
    writeBlock(mClampModal.format(11));
    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() {
  if (currentSection.isMultiAxis()) {
    writeBlock(gMotionModal.format(49));
  }
  if (!isLastSection() && (getNextSection().getTool().coolant != tool.coolant)) {
    setCoolant(COOLANT_OFF);
  }
  writeBlock(gPlaneModal.format(17));
  forceAny();
}

function writeRetract() {
  var retract = getRetractParameters.apply(this, arguments);
  if (retract && retract.words.length > 0) {
    if (typeof gRotationModal != "undefined" && gRotationModal.getCurrent() == 68 && settings.retract.cancelRotationOnRetracting) { // cancel rotation before retracting
      cancelWorkPlane(true);
    }
    switch (retract.method) {
    case "G52":
      gMotionModal.reset();
      writeBlock(gAbsIncModal.format(90), gFormat.format(52), gMotionModal.format(0), retract.words);
      break;
    default:
      error(localize("Unsupported safe position method."));
      return;
    }
  }
}

function onClose() {
  setCoolant(COOLANT_OFF);
  writeRetract(Z);
  setWorkPlane(new Vector(0, 0, 0)); // reset working plane
  writeRetract(X, Y);
  writeBlock(mFormat.format(2)); // stop program
  writeln(DC3); // XOFF
}

// >>>>> INCLUDED FROM include_files/commonFunctions.cpi
// internal variables, do not change
var receivedMachineConfiguration;
var tcp = {isSupportedByControl:getSetting("supportsTCP", true), isSupportedByMachine:false, isSupportedByOperation:false};
var multiAxisFeedrate;
var sequenceNumber;
var optionalSection = false;
var currentWorkOffset;
var forceSpindleSpeed = false;
var retracted = false; // specifies that the tool has been retracted to the safe plane
var operationNeedsSafeStart = false; // used to convert blocks to optional for safeStartAllOperations

function activateMachine() {
  // disable unsupported rotary axes output
  if (!machineConfiguration.isMachineCoordinate(0) && (typeof aOutput != "undefined")) {
    aOutput.disable();
  }
  if (!machineConfiguration.isMachineCoordinate(1) && (typeof bOutput != "undefined")) {
    bOutput.disable();
  }
  if (!machineConfiguration.isMachineCoordinate(2) && (typeof cOutput != "undefined")) {
    cOutput.disable();
  }

  // setup usage of useTiltedWorkplane
  settings.workPlaneMethod.useTiltedWorkplane = getProperty("useTiltedWorkplane") != undefined ? getProperty("useTiltedWorkplane") :
    getSetting("workPlaneMethod.useTiltedWorkplane", false);
  settings.workPlaneMethod.useABCPrepositioning = getProperty("useABCPrepositioning") != undefined ? getProperty("useABCPrepositioning") :
    getSetting("workPlaneMethod.useABCPrepositioning", false);

  if (!machineConfiguration.isMultiAxisConfiguration()) {
    return; // don't need to modify any settings for 3-axis machines
  }

  // identify if any of the rotary axes has TCP enabled
  var axes = [machineConfiguration.getAxisU(), machineConfiguration.getAxisV(), machineConfiguration.getAxisW()];
  tcp.isSupportedByMachine = axes.some(function(axis) {return axis.isEnabled() && axis.isTCPEnabled();}); // true if TCP is enabled on any rotary axis

  // save multi-axis feedrate settings from machine configuration
  var mode = machineConfiguration.getMultiAxisFeedrateMode();
  var type = mode == FEED_INVERSE_TIME ? machineConfiguration.getMultiAxisFeedrateInverseTimeUnits() :
    (mode == FEED_DPM ? machineConfiguration.getMultiAxisFeedrateDPMType() : DPM_STANDARD);
  multiAxisFeedrate = {
    mode     : mode,
    maximum  : machineConfiguration.getMultiAxisFeedrateMaximum(),
    type     : type,
    tolerance: mode == FEED_DPM ? machineConfiguration.getMultiAxisFeedrateOutputTolerance() : 0,
    bpwRatio : mode == FEED_DPM ? machineConfiguration.getMultiAxisFeedrateBpwRatio() : 1
  };

  // setup of retract/reconfigure  TAG: Only needed until post kernel supports these machine config settings
  if (receivedMachineConfiguration && machineConfiguration.performRewinds()) {
    safeRetractDistance = machineConfiguration.getSafeRetractDistance();
    safePlungeFeed = machineConfiguration.getSafePlungeFeedrate();
    safeRetractFeed = machineConfiguration.getSafeRetractFeedrate();
  }
  if (typeof safeRetractDistance == "number" && getProperty("safeRetractDistance") != undefined && getProperty("safeRetractDistance") != 0) {
    safeRetractDistance = getProperty("safeRetractDistance");
  }

  if (machineConfiguration.isHeadConfiguration()) {
    compensateToolLength = typeof compensateToolLength == "undefined" ? false : compensateToolLength;
  }

  if (machineConfiguration.isHeadConfiguration() && compensateToolLength) {
    for (var i = 0; i < getNumberOfSections(); ++i) {
      var section = getSection(i);
      if (section.isMultiAxis()) {
        machineConfiguration.setToolLength(getBodyLength(section.getTool())); // define the tool length for head adjustments
        section.optimizeMachineAnglesByMachine(machineConfiguration, OPTIMIZE_AXIS);
      }
    }
  } else {
    optimizeMachineAngles2(OPTIMIZE_AXIS);
  }
}

function getBodyLength(tool) {
  for (var i = 0; i < getNumberOfSections(); ++i) {
    var section = getSection(i);
    if (tool.number == section.getTool().number) {
      return section.getParameter("operation:tool_overallLength", tool.bodyLength + tool.holderLength);
    }
  }
  return tool.bodyLength + tool.holderLength;
}

function getFeed(f) {
  if (getProperty("useG95")) {
    return feedOutput.format(f / spindleSpeed); // use feed value
  }
  if (typeof activeMovements != "undefined" && activeMovements) {
    var feedContext = activeMovements[movement];
    if (feedContext != undefined) {
      if (!feedFormat.areDifferent(feedContext.feed, f)) {
        if (feedContext.id == currentFeedId) {
          return ""; // nothing has changed
        }
        forceFeed();
        currentFeedId = feedContext.id;
        return settings.parametricFeeds.feedOutputVariable + (settings.parametricFeeds.firstFeedParameter + feedContext.id);
      }
    }
    currentFeedId = undefined; // force parametric feed next time
  }
  return feedOutput.format(f); // use feed value
}

function validateCommonParameters() {
  validateToolData();
  for (var i = 0; i < getNumberOfSections(); ++i) {
    var section = getSection(i);
    if (getSection(0).workOffset == 0 && section.workOffset > 0) {
      error(localize("Using multiple work offsets is not possible if the initial work offset is 0."));
    }
    if (section.isMultiAxis()) {
      if (!section.isOptimizedForMachine() && !getSetting("supportsToolVectorOutput", false)) {
        error(localize("This postprocessor requires a machine configuration for 5-axis simultaneous toolpath."));
      }
      if (machineConfiguration.getMultiAxisFeedrateMode() == FEED_INVERSE_TIME && !getSetting("supportsInverseTimeFeed", true)) {
        error(localize("This postprocessor does not support inverse time feedrates."));
      }
    }
  }
  if (!tcp.isSupportedByControl && tcp.isSupportedByMachine) {
    error(localize("The machine configuration has TCP enabled which is not supported by this postprocessor."));
  }
  if (getProperty("safePositionMethod") == "clearanceHeight") {
    var msg = "-Attention- Property 'Safe Retracts' is set to 'Clearance Height'." + EOL +
      "Ensure the clearance height will clear the part and or fixtures." + EOL +
      "Raise the Z-axis to a safe height before starting the program.";
    warning(msg);
    writeComment(msg);
  }
}

function validateToolData() {
  var _default = 99999;
  var _maximumSpindleRPM = machineConfiguration.getMaximumSpindleSpeed() > 0 ? machineConfiguration.getMaximumSpindleSpeed() :
    settings.maximumSpindleRPM == undefined ? _default : settings.maximumSpindleRPM;
  var _maximumToolNumber = machineConfiguration.isReceived() && machineConfiguration.getNumberOfTools() > 0 ? machineConfiguration.getNumberOfTools() :
    settings.maximumToolNumber == undefined ? _default : settings.maximumToolNumber;
  var _maximumToolLengthOffset = settings.maximumToolLengthOffset == undefined ? _default : settings.maximumToolLengthOffset;
  var _maximumToolDiameterOffset = settings.maximumToolDiameterOffset == undefined ? _default : settings.maximumToolDiameterOffset;

  var header = ["Detected maximum values are out of range.", "Maximum values:"];
  var warnings = {
    toolNumber    : {msg:"Tool number value exceeds the maximum value for tool: " + EOL, max:" Tool number: " + _maximumToolNumber, values:[]},
    lengthOffset  : {msg:"Tool length offset value exceeds the maximum value for tool: " + EOL, max:" Tool length offset: " + _maximumToolLengthOffset, values:[]},
    diameterOffset: {msg:"Tool diameter offset value exceeds the maximum value for tool: " + EOL, max:" Tool diameter offset: " + _maximumToolDiameterOffset, values:[]},
    spindleSpeed  : {msg:"Spindle speed exceeds the maximum value for operation: " + EOL, max:" Spindle speed: " + _maximumSpindleRPM, values:[]}
  };

  var toolIds = [];
  for (var i = 0; i < getNumberOfSections(); ++i) {
    var section = getSection(i);
    if (toolIds.indexOf(section.getTool().getToolId()) === -1) { // loops only through sections which have a different tool ID
      var toolNumber = section.getTool().number;
      var lengthOffset = section.getTool().lengthOffset;
      var diameterOffset = section.getTool().diameterOffset;
      var comment = section.getParameter("operation-comment", "");

      if (toolNumber > _maximumToolNumber && !getProperty("toolAsName")) {
        warnings.toolNumber.values.push(SP + toolNumber + EOL);
      }
      if (lengthOffset > _maximumToolLengthOffset) {
        warnings.lengthOffset.values.push(SP + "Tool " + toolNumber + " (" + comment + "," + " Length offset: " + lengthOffset + ")" + EOL);
      }
      if (diameterOffset > _maximumToolDiameterOffset) {
        warnings.diameterOffset.values.push(SP + "Tool " + toolNumber + " (" + comment + "," + " Diameter offset: " + diameterOffset + ")" + EOL);
      }
      toolIds.push(section.getTool().getToolId());
    }
    // loop through all sections regardless of tool id for idenitfying spindle speeds

    // identify if movement ramp is used in current toolpath, use ramp spindle speed for comparisons
    var ramp = section.getMovements() & ((1 << MOVEMENT_RAMP) | (1 << MOVEMENT_RAMP_ZIG_ZAG) | (1 << MOVEMENT_RAMP_PROFILE) | (1 << MOVEMENT_RAMP_HELIX));
    var _sectionSpindleSpeed = Math.max(section.getTool().spindleRPM, ramp ? section.getTool().rampingSpindleRPM : 0, 0);
    if (_sectionSpindleSpeed > _maximumSpindleRPM) {
      warnings.spindleSpeed.values.push(SP + section.getParameter("operation-comment", "") + " (" + _sectionSpindleSpeed + " RPM" + ")" + EOL);
    }
  }

  // sort lists by tool number
  warnings.toolNumber.values.sort(function(a, b) {return a - b;});
  warnings.lengthOffset.values.sort(function(a, b) {return a.localeCompare(b);});
  warnings.diameterOffset.values.sort(function(a, b) {return a.localeCompare(b);});

  var warningMessages = [];
  for (var key in warnings) {
    if (warnings[key].values != "") {
      header.push(warnings[key].max); // add affected max values to the header
      warningMessages.push(warnings[key].msg + warnings[key].values.join(""));
    }
  }
  if (warningMessages.length != 0) {
    warningMessages.unshift(header.join(EOL) + EOL);
    warning(warningMessages.join(EOL));
  }
}

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

/** 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();
}

/**
  Writes the specified block.
*/
function writeBlock() {
  var text = formatWords(arguments);
  if (!text) {
    return;
  }
  if ((optionalSection || skipBlocks) && !getSetting("supportsOptionalBlocks", true)) {
    error(localize("Optional blocks are not supported by this post."));
  }
  if (getProperty("showSequenceNumbers") == "true") {
    if (sequenceNumber == undefined || sequenceNumber >= settings.maximumSequenceNumber) {
      sequenceNumber = getProperty("sequenceNumberStart");
    }
    if (optionalSection || skipBlocks) {
      if (text) {
        writeWords("/", "N" + sequenceNumber, text);
      }
    } else {
      writeWords2("N" + sequenceNumber, arguments);
    }
    sequenceNumber += getProperty("sequenceNumberIncrement");
  } else {
    if (optionalSection || skipBlocks) {
      writeWords2("/", arguments);
    } else {
      writeWords(arguments);
    }
  }
}

validate(settings.comments, "Setting 'comments' is required but not defined.");
function formatComment(text) {
  var prefix = settings.comments.prefix;
  var suffix = settings.comments.suffix;
  text = settings.comments.upperCase ? text.toUpperCase() : text;
  text = filterText(String(text), settings.comments.permittedCommentChars).replace(/[()]/g, "");
  text = String(text).substring(0, settings.comments.maximumLineLength - prefix.length - suffix.length);
  return text != "" ?  prefix + text + suffix : "";
}

/**
  Output a comment.
*/
function writeComment(text) {
  if (!text) {
    return;
  }
  var comments = String(text).split("\n");
  for (comment in comments) {
    var _comment = formatComment(comments[comment]);
    if (_comment) {
      writeln(_comment);
    }
  }
}

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

/**
  Writes the specified block - used for tool changes only.
*/
function writeToolBlock() {
  var show = getProperty("showSequenceNumbers");
  setProperty("showSequenceNumbers", (show == "true" || show == "toolChange") ? "true" : "false");
  writeBlock(arguments);
  setProperty("showSequenceNumbers", show);
}

var skipBlocks = false;
function writeStartBlocks(isRequired, code) {
  var safeSkipBlocks = skipBlocks;
  if (!isRequired) {
    if (!getProperty("safeStartAllOperations", false)) {
      return; // when safeStartAllOperations is disabled, dont output code and return
    }
    // if values are not required, but safe start is enabled - write following blocks as optional
    skipBlocks = true;
  }
  code(); // writes out the code which is passed to this function as an argument
  skipBlocks = safeSkipBlocks; // restore skipBlocks value
}

var pendingRadiusCompensation = -1;
function onRadiusCompensation() {
  pendingRadiusCompensation = radiusCompensation;
  if (pendingRadiusCompensation >= 0 && !getSetting("supportsRadiusCompensation", true)) {
    error(localize("Radius compensation mode is not supported."));
    return;
  }
}

function onPassThrough(text) {
  var commands = String(text).split(",");
  for (text in commands) {
    writeBlock(commands[text]);
  }
}

function forceModals() {
  if (arguments.length == 0) { // reset all modal variables listed below
    if (typeof gMotionModal != "undefined") {
      gMotionModal.reset();
    }
    if (typeof gPlaneModal != "undefined") {
      gPlaneModal.reset();
    }
    if (typeof gAbsIncModal != "undefined") {
      gAbsIncModal.reset();
    }
    if (typeof gFeedModeModal != "undefined") {
      gFeedModeModal.reset();
    }
  } else {
    for (var i in arguments) {
      arguments[i].reset(); // only reset the modal variable passed to this function
    }
  }
}

/** Helper function to be able to use a default value for settings which do not exist. */
function getSetting(setting, defaultValue) {
  var result = defaultValue;
  var keys = setting.split(".");
  var obj = settings;
  for (var i in keys) {
    if (obj[keys[i]] != undefined) { // setting does exist
      result = obj[keys[i]];
      if (typeof [keys[i]] === "object") {
        obj = obj[keys[i]];
        continue;
      }
    } else { // setting does not exist, use default value
      if (defaultValue != undefined) {
        result = defaultValue;
      } else {
        error("Setting '" + keys[i] + "' has no default value and/or does not exist.");
        return undefined;
      }
    }
  }
  return result;
}

function getRetractParameters() {
  var words = []; // store all retracted axes in an array
  var retractAxes = new Array(false, false, false);
  var method = getProperty("safePositionMethod", "undefined");
  if (method == "clearanceHeight") {
    if (!is3D()) {
      error(localize("Safe retract option 'Clearance Height' is only supported when all operations are along the setup Z-axis."));
    }
    return undefined;
  }
  validate(settings.retract, "Setting 'retract' is required but not defined.");
  validate(arguments.length != 0, "No axis specified for getRetractParameters().");

  for (i in arguments) {
    retractAxes[arguments[i]] = true;
  }
  if ((retractAxes[0] || retractAxes[1]) && !retracted) { // retract Z first before moving to X/Y home
    error(localize("Retracting in X/Y is not possible without being retracted in Z."));
    return undefined;
  }
  // special conditions
  if (retractAxes[0] || retractAxes[1]) {
    method = getSetting("retract.methodXY", method);
  }
  if (retractAxes[2]) {
    method = getSetting("retract.methodZ", method);
  }
  // define home positions
  var useZeroValues = (settings.retract.useZeroValues && settings.retract.useZeroValues.indexOf(method) != -1);
  var _xHome = machineConfiguration.hasHomePositionX() && !useZeroValues ? machineConfiguration.getHomePositionX() : toPreciseUnit(0, MM);
  var _yHome = machineConfiguration.hasHomePositionY() && !useZeroValues ? machineConfiguration.getHomePositionY() : toPreciseUnit(0, MM);
  var _zHome = machineConfiguration.getRetractPlane() != 0 && !useZeroValues ? machineConfiguration.getRetractPlane() : toPreciseUnit(0, MM);
  for (var i = 0; i < arguments.length; ++i) {
    switch (arguments[i]) {
    case X:
      words.push("X" + xyzFormat.format(_xHome));
      xOutput.reset();
      break;
    case Y:
      words.push("Y" + xyzFormat.format(_yHome));
      yOutput.reset();
      break;
    case Z:
      words.push("Z" + xyzFormat.format(_zHome));
      zOutput.reset();
      retracted = (typeof skipBlocks == "undefined") ? true : !skipBlocks;
      break;
    default:
      error(localize("Unsupported axis specified for getRetractParameters()."));
      return undefined;
    }
  }
  return {method:method, retractAxes:retractAxes, words:words};
}

/** Returns true when subprogram logic does exist into the post. */
function subprogramsAreSupported() {
  return typeof subprogramState != "undefined";
}
// <<<<< INCLUDED FROM include_files/commonFunctions.cpi
// >>>>> INCLUDED FROM include_files/defineMachine.cpi
var compensateToolLength = false; // add the tool length to the pivot distance for nonTCP rotary heads
function defineMachine() {
  var useTCP = true;
  if (false) { // note: setup your machine here
    var aAxis = createAxis({coordinate:0, table:true, axis:[1, 0, 0], range:[-120, 120], preference:1, tcp:useTCP});
    var cAxis = createAxis({coordinate:2, table:true, axis:[0, 0, 1], range:[-360, 360], preference:0, tcp:useTCP});
    machineConfiguration = new MachineConfiguration(aAxis, cAxis);

    setMachineConfiguration(machineConfiguration);
    if (receivedMachineConfiguration) {
      warning(localize("The provided CAM machine configuration is overwritten by the postprocessor."));
      receivedMachineConfiguration = false; // CAM provided machine configuration is overwritten
    }
  }

  if (!receivedMachineConfiguration) {
    // multiaxis settings
    if (machineConfiguration.isHeadConfiguration()) {
      machineConfiguration.setVirtualTooltip(false); // translate the pivot point to the virtual tool tip for nonTCP rotary heads
    }

    // retract / reconfigure
    var performRewinds = false; // set to true to enable the rewind/reconfigure logic
    if (performRewinds) {
      machineConfiguration.enableMachineRewinds(); // enables the retract/reconfigure logic
      safeRetractDistance = (unit == IN) ? 1 : 25; // additional distance to retract out of stock, can be overridden with a property
      safeRetractFeed = (unit == IN) ? 20 : 500; // retract feed rate
      safePlungeFeed = (unit == IN) ? 10 : 250; // plunge feed rate
      machineConfiguration.setSafeRetractDistance(safeRetractDistance);
      machineConfiguration.setSafeRetractFeedrate(safeRetractFeed);
      machineConfiguration.setSafePlungeFeedrate(safePlungeFeed);
      var stockExpansion = new Vector(toPreciseUnit(0.1, IN), toPreciseUnit(0.1, IN), toPreciseUnit(0.1, IN)); // expand stock XYZ values
      machineConfiguration.setRewindStockExpansion(stockExpansion);
    }

    // multi-axis feedrates
    if (machineConfiguration.isMultiAxisConfiguration()) {
      machineConfiguration.setMultiAxisFeedrate(
        useTCP ? FEED_FPM : getProperty("useDPMFeeds") ? FEED_DPM : FEED_INVERSE_TIME,
        9999.99, // maximum output value for inverse time feed rates
        getProperty("useDPMFeeds") ? DPM_COMBINATION : INVERSE_MINUTES, // INVERSE_MINUTES/INVERSE_SECONDS or DPM_COMBINATION/DPM_STANDARD
        0.5, // tolerance to determine when the DPM feed has changed
        1.0 // ratio of rotary accuracy to linear accuracy for DPM calculations
      );
      setMachineConfiguration(machineConfiguration);
    }

    /* home positions */
    // machineConfiguration.setHomePositionX(toPreciseUnit(0, IN));
    // machineConfiguration.setHomePositionY(toPreciseUnit(0, IN));
    // machineConfiguration.setRetractPlane(toPreciseUnit(0, IN));
  }
}
// <<<<< INCLUDED FROM include_files/defineMachine.cpi
// >>>>> INCLUDED FROM include_files/defineWorkPlane.cpi
validate(settings.workPlaneMethod, "Setting 'workPlaneMethod' is required but not defined.");
function defineWorkPlane(_section, _setWorkPlane) {
  var abc = new Vector(0, 0, 0);
  if (settings.workPlaneMethod.forceMultiAxisIndexing || !is3D() || machineConfiguration.isMultiAxisConfiguration()) {
    if (isPolarModeActive()) {
      abc = getCurrentDirection();
    } else if (_section.isMultiAxis()) {
      forceWorkPlane();
      cancelTransformation();
      abc = _section.isOptimizedForMachine() ? _section.getInitialToolAxisABC() : _section.getGlobalInitialToolAxis();
    } else if (settings.workPlaneMethod.useTiltedWorkplane && settings.workPlaneMethod.eulerConvention != undefined) {
      if (settings.workPlaneMethod.eulerCalculationMethod == "machine" && machineConfiguration.isMultiAxisConfiguration()) {
        abc = machineConfiguration.getOrientation(getWorkPlaneMachineABC(_section, true)).getEuler2(settings.workPlaneMethod.eulerConvention);
      } else {
        abc = _section.workPlane.getEuler2(settings.workPlaneMethod.eulerConvention);
      }
    } else {
      abc = getWorkPlaneMachineABC(_section, true);
    }

    if (_setWorkPlane) {
      if (_section.isMultiAxis() || isPolarModeActive()) { // 4-5x simultaneous operations
        cancelWorkPlane();
        positionABC(abc, true);
      } else { // 3x and/or 3+2x operations
        setWorkPlane(abc);
      }
    }
  } else {
    var remaining = _section.workPlane;
    if (!isSameDirection(remaining.forward, new Vector(0, 0, 1))) {
      error(localize("Tool orientation is not supported."));
      return abc;
    }
    setRotation(remaining);
  }
  if (currentSection && (currentSection.getId() == _section.getId())) {
    tcp.isSupportedByOperation = currentSection.getOptimizedTCPMode() == OPTIMIZE_NONE;
    if (!currentSection.isMultiAxis() && (settings.workPlaneMethod.useTiltedWorkplane || isSameDirection(machineConfiguration.getSpindleAxis(), currentSection.workPlane.forward))) {
      tcp.isSupportedByOperation = false;
    }
  }
  return abc;
}
// <<<<< INCLUDED FROM include_files/defineWorkPlane.cpi
// >>>>> INCLUDED FROM include_files/getWorkPlaneMachineABC.cpi
validate(settings.machineAngles, "Setting 'machineAngles' is required but not defined.");
function getWorkPlaneMachineABC(_section, rotate) {
  var currentABC = isFirstSection() ? new Vector(0, 0, 0) : getCurrentDirection();
  var abc = machineConfiguration.getABCByPreference(_section.workPlane, currentABC, settings.machineAngles.controllingAxis, settings.machineAngles.type, settings.machineAngles.options);
  if (!isSameDirection(machineConfiguration.getDirection(abc), _section.workPlane.forward)) {
    error(localize("Orientation not supported."));
  }
  if (rotate) {
    if (settings.workPlaneMethod.optimizeType == undefined || settings.workPlaneMethod.useTiltedWorkplane) { // legacy
      var useTCP = false;
      var R = machineConfiguration.getRemainingOrientation(abc, _section.workPlane);
      setRotation(useTCP ? _section.workPlane : R);
      setCurrentDirection(currentABC); // temporary fix for currentDirection
    } else {
      if (!_section.isOptimizedForMachine()) {
        machineConfiguration.setToolLength(compensateToolLength ? _section.getTool().overallLength : 0); // define the tool length for head adjustments
        _section.optimize3DPositionsByMachine(machineConfiguration, abc, settings.workPlaneMethod.optimizeType);
      }
    }
  }
  return abc;
}
// <<<<< INCLUDED FROM include_files/getWorkPlaneMachineABC.cpi
// >>>>> INCLUDED FROM include_files/positionABC.cpi
function positionABC(abc, force) {
  if (typeof unwindABC == "function") {
    unwindABC(abc);
  }
  if (force) {
    forceABC();
  }
  var a = machineConfiguration.isMultiAxisConfiguration() ? aOutput.format(abc.x) : toolVectorOutputI.format(abc.x);
  var b = machineConfiguration.isMultiAxisConfiguration() ? bOutput.format(abc.y) : toolVectorOutputJ.format(abc.y);
  var c = machineConfiguration.isMultiAxisConfiguration() ? cOutput.format(abc.z) : toolVectorOutputK.format(abc.z);
  if (a || b || c) {
    if (!retracted) {
      if (typeof moveToSafeRetractPosition == "function") {
        moveToSafeRetractPosition();
      } else {
        writeRetract(Z);
      }
    }
    onCommand(COMMAND_UNLOCK_MULTI_AXIS);
    gMotionModal.reset();
    writeBlock(gMotionModal.format(0), a, b, c);

    if (getCurrentSectionId() != -1) {
      setCurrentABC(abc); // required for machine simulation
    }
  }
}
// <<<<< INCLUDED FROM include_files/positionABC.cpi
// >>>>> INCLUDED FROM include_files/writeWCS.cpi
function writeWCS(section, wcsIsRequired) {
  if (section.workOffset != currentWorkOffset) {
    if (getSetting("workPlaneMethod.cancelTiltFirst", false) && wcsIsRequired) {
      cancelWorkPlane();
    }
    if (typeof forceWorkPlane == "function" && wcsIsRequired) {
      forceWorkPlane();
    }
    writeStartBlocks(wcsIsRequired, function () {
      writeBlock(section.wcs);
    });
    currentWorkOffset = section.workOffset;
  }
}
// <<<<< INCLUDED FROM include_files/writeWCS.cpi
// >>>>> INCLUDED FROM include_files/writeToolCall.cpi
function writeToolCall(tool, insertToolCall) {
  var tcPosX = getProperty("tcPositionX");
  var tcPosY = getProperty("tcPositionY");
  var tcPosZ = getProperty("tcPositionZ");
  if (typeof forceModals == "function" && (insertToolCall || getProperty("safeStartAllOperations"))) {
    forceModals();
  }
  writeStartBlocks(insertToolCall, function () {
    if (!retracted) {
      writeRetract(Z);
    }
    if (!isFirstSection() && insertToolCall) {
      if (typeof forceWorkPlane == "function") {
        forceWorkPlane();
      }
      onCommand(COMMAND_COOLANT_OFF); // turn off coolant on tool change
      if (typeof disableLengthCompensation == "function") {
        disableLengthCompensation(false);
      }
    }

    if (tool.manualToolChange) {
      onCommand(COMMAND_STOP);
      writeComment("MANUAL TOOL CHANGE TO T" + toolFormat.format(tool.number));
    } else {
      switch (getProperty("tcMoveType")) {
        case "disable":
          break;
        case "all":
          writeBlock(gAbsIncModal.format(90), gFormat.format(52), gMotionModal.format(0), "X" + xyzFormat.format(tcPosX), "Y" + xyzFormat.format(tcPosY), "Z" + xyzFormat.format(tcPosZ));
          break;
        case "ZX":
          writeBlock(gAbsIncModal.format(90), gFormat.format(52), gMotionModal.format(0), "Z" + xyzFormat.format(tcPosZ));
          writeBlock(gAbsIncModal.format(90), gFormat.format(52), gMotionModal.format(0), "X" + xyzFormat.format(tcPosX), "Y" + xyzFormat.format(tcPosY));
          break;
        case "XY":
          writeBlock(gAbsIncModal.format(90), gFormat.format(52), gMotionModal.format(0), "X" + xyzFormat.format(tcPosX), "Y" + xyzFormat.format(tcPosY));
          break;
        }
      if (!isFirstSection() && getProperty("optionalStop") && insertToolCall) {
        onCommand(COMMAND_OPTIONAL_STOP);
      }
      onCommand(COMMAND_LOAD_TOOL);
    }
  });
}
// <<<<< INCLUDED FROM include_files/writeToolCall.cpi
// >>>>> INCLUDED FROM include_files/startSpindle.cpi

function startSpindle(tool, insertToolCall) {
  if (tool.type != TOOL_PROBE) {
    var spindleSpeedIsRequired = insertToolCall || forceSpindleSpeed || isFirstSection() ||
      rpmFormat.areDifferent(spindleSpeed, sOutput.getCurrent()) ||
      (tool.clockwise != getPreviousSection().getTool().clockwise);

    writeStartBlocks(spindleSpeedIsRequired, function () {
      if (spindleSpeedIsRequired || operationNeedsSafeStart) {
        onCommand(COMMAND_START_SPINDLE);
      }
    });
  }
}
// <<<<< INCLUDED FROM include_files/startSpindle.cpi
// >>>>> INCLUDED FROM include_files/coolant.cpi
var currentCoolantMode = COOLANT_OFF;
var coolantOff = undefined;
var isOptionalCoolant = false;
var forceCoolant = false;

function setCoolant(coolant) {
  var coolantCodes = getCoolantCodes(coolant);
  if (Array.isArray(coolantCodes)) {
    writeStartBlocks(!isOptionalCoolant, function () {
      if (settings.coolant.singleLineCoolant) {
        writeBlock(coolantCodes.join(getWordSeparator()));
      } else {
        for (var c in coolantCodes) {
          writeBlock(coolantCodes[c]);
        }
      }
    });
    return undefined;
  }
  return coolantCodes;
}

function getCoolantCodes(coolant, format) {
  isOptionalCoolant = false;
  if (typeof operationNeedsSafeStart == "undefined") {
    operationNeedsSafeStart = false;
  }
  var multipleCoolantBlocks = new Array(); // create a formatted array to be passed into the outputted line
  var coolants = settings.coolant.coolants;
  if (!coolants) {
    error(localize("Coolants have not been defined."));
  }
  if (tool.type && tool.type == TOOL_PROBE) { // avoid coolant output for probing
    coolant = COOLANT_OFF;
  }
  if (coolant == currentCoolantMode) {
    if (operationNeedsSafeStart && coolant != COOLANT_OFF) {
      isOptionalCoolant = true;
    } else if (!forceCoolant || coolant == COOLANT_OFF) {
      return undefined; // coolant is already active
    }
  }
  if ((coolant != COOLANT_OFF) && (currentCoolantMode != COOLANT_OFF) && (coolantOff != undefined) && !forceCoolant && !isOptionalCoolant) {
    if (Array.isArray(coolantOff)) {
      for (var i in coolantOff) {
        multipleCoolantBlocks.push(coolantOff[i]);
      }
    } else {
      multipleCoolantBlocks.push(coolantOff);
    }
  }
  forceCoolant = false;

  var m;
  var coolantCodes = {};
  for (var c in coolants) { // find required coolant codes into the coolants array
    if (coolants[c].id == coolant) {
      coolantCodes.on = coolants[c].on;
      if (coolants[c].off != undefined) {
        coolantCodes.off = coolants[c].off;
        break;
      } else {
        for (var i in coolants) {
          if (coolants[i].id == COOLANT_OFF) {
            coolantCodes.off = coolants[i].off;
            break;
          }
        }
      }
    }
  }
  if (coolant == COOLANT_OFF) {
    m = !coolantOff ? coolantCodes.off : coolantOff; // use the default coolant off command when an 'off' value is not specified
  } else {
    coolantOff = coolantCodes.off;
    m = coolantCodes.on;
  }

  if (!m) {
    onUnsupportedCoolant(coolant);
    m = 9;
  } else {
    if (Array.isArray(m)) {
      for (var i in m) {
        multipleCoolantBlocks.push(m[i]);
      }
    } else {
      multipleCoolantBlocks.push(m);
    }
    currentCoolantMode = coolant;
    for (var i in multipleCoolantBlocks) {
      if (typeof multipleCoolantBlocks[i] == "number") {
        multipleCoolantBlocks[i] = mFormat.format(multipleCoolantBlocks[i]);
      }
    }
    if (format == undefined || format) {
      return multipleCoolantBlocks; // return the single formatted coolant value
    } else {
      return m; // return unformatted coolant value
    }
  }
  return undefined;
}
// <<<<< INCLUDED FROM include_files/coolant.cpi
// >>>>> INCLUDED FROM include_files/writeProgramHeader.cpi
function writeProgramHeader() {
  // dump machine configuration
  var vendor = machineConfiguration.getVendor();
  var model = machineConfiguration.getModel();
  var mDescription = machineConfiguration.getDescription();
  if (getProperty("writeMachine") && (vendor || model || mDescription)) {
    writeComment(localize("Machine"));
    if (vendor) {
      writeComment("  " + localize("vendor") + ": " + vendor);
    }
    if (model) {
      writeComment("  " + localize("model") + ": " + model);
    }
    if (mDescription) {
      writeComment("  " + localize("description") + ": "  + mDescription);
    }
  }

  // dump tool information
  if (getProperty("writeTools")) {
    if (false) { // set to true to use the post kernel version of the tool list
      writeToolTable(TOOL_NUMBER_COL);
    } else {
      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);
        }
      }
    }
  }
}
// <<<<< INCLUDED FROM include_files/writeProgramHeader.cpi

// >>>>> INCLUDED FROM include_files/onRapid_fanuc.cpi
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);
    forceFeed();
  }
}
// <<<<< INCLUDED FROM include_files/onRapid_fanuc.cpi
// >>>>> INCLUDED FROM include_files/onRapid5D_fanuc.cpi
function onRapid5D(_x, _y, _z, _a, _b, _c) {
  if (pendingRadiusCompensation >= 0) {
    error(localize("Radius compensation mode cannot be changed at rapid traversal."));
    return;
  }
  if (!currentSection.isOptimizedForMachine()) {
    forceXYZ();
  }
  var x = xOutput.format(_x);
  var y = yOutput.format(_y);
  var z = zOutput.format(_z);
  var a = currentSection.isOptimizedForMachine() ? aOutput.format(_a) : toolVectorOutputI.format(_a);
  var b = currentSection.isOptimizedForMachine() ? bOutput.format(_b) : toolVectorOutputJ.format(_b);
  var c = currentSection.isOptimizedForMachine() ? cOutput.format(_c) : toolVectorOutputK.format(_c);

  if (x || y || z || a || b || c) {
    writeBlock(gMotionModal.format(0), x, y, z, a, b, c);
    forceFeed();
  }
}
// <<<<< INCLUDED FROM include_files/onRapid5D_fanuc.cpi
// >>>>> INCLUDED FROM include_files/onLinear5D_fanuc.cpi
function onLinear5D(_x, _y, _z, _a, _b, _c, feed, feedMode) {
  if (pendingRadiusCompensation >= 0) {
    error(localize("Radius compensation cannot be activated/deactivated for 5-axis move."));
    return;
  }
  if (!currentSection.isOptimizedForMachine()) {
    forceXYZ();
  }
  var x = xOutput.format(_x);
  var y = yOutput.format(_y);
  var z = zOutput.format(_z);
  var a = currentSection.isOptimizedForMachine() ? aOutput.format(_a) : toolVectorOutputI.format(_a);
  var b = currentSection.isOptimizedForMachine() ? bOutput.format(_b) : toolVectorOutputJ.format(_b);
  var c = currentSection.isOptimizedForMachine() ? cOutput.format(_c) : toolVectorOutputK.format(_c);
  if (feedMode == FEED_INVERSE_TIME) {
    forceFeed();
  }
  var f = feedMode == FEED_INVERSE_TIME ? inverseTimeOutput.format(feed) : getFeed(feed);
  var fMode = feedMode == FEED_INVERSE_TIME ? 93 : getProperty("useG95") ? 95 : 94;

  if (x || y || z || a || b || c) {
    writeBlock(gFeedModeModal.format(fMode), gMotionModal.format(1), x, y, z, a, b, c, f);
  } else if (f) {
    if (getNextRecord().isMotion()) { // try not to output feed without motion
      forceFeed(); // force feed on next line
    } else {
      writeBlock(gFeedModeModal.format(fMode), gMotionModal.format(1), f);
    }
  }
}
// <<<<< INCLUDED FROM include_files/onLinear5D_fanuc.cpi
// >>>>> INCLUDED FROM include_files/workPlaneFunctions_fanuc.cpi
var currentWorkPlaneABC = undefined;
function forceWorkPlane() {
  currentWorkPlaneABC = undefined;
}

function cancelWorkPlane(force) {
  if (typeof gRotationModal != "undefined") {
    if (force) {
      gRotationModal.reset();
    }
    writeBlock(gRotationModal.format(69)); // cancel frame
  }
  forceWorkPlane();
}

function setWorkPlane(abc) {
  if (!settings.workPlaneMethod.forceMultiAxisIndexing && is3D() && !machineConfiguration.isMultiAxisConfiguration()) {
    return; // ignore
  }
  var workplaneIsRequired = (currentWorkPlaneABC == undefined) ||
    abcFormat.areDifferent(abc.x, currentWorkPlaneABC.x) ||
    abcFormat.areDifferent(abc.y, currentWorkPlaneABC.y) ||
    abcFormat.areDifferent(abc.z, currentWorkPlaneABC.z);

  writeStartBlocks(workplaneIsRequired, function () {
    if (!retracted) {
      writeRetract(Z);
    }

    if (settings.workPlaneMethod.useTiltedWorkplane) {
      onCommand(COMMAND_UNLOCK_MULTI_AXIS);
      if (settings.workPlaneMethod.cancelTiltFirst) {
        cancelWorkPlane();
      }
      if (machineConfiguration.isMultiAxisConfiguration()) {
        var machineABC = abc.isNonZero() ? (currentSection.isMultiAxis() ? getCurrentDirection() : getWorkPlaneMachineABC(currentSection, false)) : abc;
        if (settings.workPlaneMethod.useABCPrepositioning || machineABC.isZero()) {
          positionABC(machineABC, false);
        } else {
          setCurrentABC(machineABC);
        }
      }
      if (abc.isNonZero()) {
        gRotationModal.reset();
        writeBlock(
          gRotationModal.format(68.2), "X" + xyzFormat.format(currentSection.workOrigin.x), "Y" + xyzFormat.format(currentSection.workOrigin.y), "Z" + xyzFormat.format(currentSection.workOrigin.z),
          "I" + abcFormat.format(abc.x), "J" + abcFormat.format(abc.y), "K" + abcFormat.format(abc.z)
        ); // set frame
        writeBlock(gFormat.format(53.1)); // turn machine
      } else {
        if (!settings.workPlaneMethod.cancelTiltFirst) {
          cancelWorkPlane();
        }
      }
    } else {
      positionABC(abc, true);
    }
    if (!currentSection.isMultiAxis()) {
      onCommand(COMMAND_LOCK_MULTI_AXIS);
    }
    currentWorkPlaneABC = abc;
  });
}
// <<<<< INCLUDED FROM include_files/workPlaneFunctions_fanuc.cpi
// >>>>> INCLUDED FROM include_files/initialPositioning_fanuc.cpi
/**
 * Writes the initial positioning procedure for a section to get to the start position of the toolpath.
 * @param {Vector} position The initial position to move to
 * @param {boolean} isRequired true: Output full positioning, false: Output full positioning in optional state or output simple positioning only
 * @param {String} codes1 Allows to add additional code to the first positioning line
 * @param {String} codes2 Allows to add additional code to the second positioning line (if applicable)
 * @example
  var myVar1 = formatWords("T" + tool.number, currentSection.wcs);
  var myVar2 = getCoolantCodes(tool.coolant);
  writeInitialPositioning(initialPosition, isRequired, myVar1, myVar2);
*/
function writeInitialPositioning(position, isRequired, codes1, codes2) {
  var motionCode = (highFeedMapping != HIGH_FEED_NO_MAPPING) ? 1 : 0;
  var feed = (highFeedMapping != HIGH_FEED_NO_MAPPING) ? getFeed(highFeedrate) : "";
  var gOffset = getSetting("outputToolLengthCompensation", true) ? gFormat.format(getOffsetCode()) : "";
  var hOffset = getSetting("outputToolLengthOffset", true) ? hFormat.format(tool.lengthOffset) : "";
  var additionalCodes = [formatWords(codes1), formatWords(codes2)];

  forceModals(gMotionModal);
  writeStartBlocks(isRequired, function() {
    var modalCodes = formatWords(gAbsIncModal.format(90), gPlaneModal.format(17));
    if (typeof disableLengthCompensation == "function") {
      disableLengthCompensation(false); // cancel tool length compensation prior to enabling it, required when switching G43/G43.4 modes
    }

    // multi axis prepositioning with TWP
    if (currentSection.isMultiAxis() && getSetting("workPlaneMethod.prepositionWithTWP", true) && getSetting("workPlaneMethod.useTiltedWorkplane", false) &&
      tcp.isSupportedByOperation && getCurrentDirection().isNonZero()) {
      var W = machineConfiguration.isMultiAxisConfiguration() ? machineConfiguration.getOrientation(getCurrentDirection()) :
        Matrix.getOrientationFromDirection(getCurrentDirection());
      var prePosition = W.getTransposed().multiply(position);
      var angles = W.getEuler2(settings.workPlaneMethod.eulerConvention);
      setWorkPlane(angles);
      writeBlock(modalCodes, gMotionModal.format(motionCode), xOutput.format(prePosition.x), yOutput.format(prePosition.y), feed, additionalCodes[0]);
      cancelWorkPlane();
      writeBlock(gOffset, hOffset, additionalCodes[1]); // omit Z-axis output is desired
      lengthCompensationActive = true;
      forceAny(); // required to output XYZ coordinates in the following line
    } else {
      if (machineConfiguration.isHeadConfiguration()) {
        writeBlock(modalCodes, gMotionModal.format(motionCode), gOffset,
          xOutput.format(position.x), yOutput.format(position.y), zOutput.format(position.z),
          hOffset, feed, additionalCodes
        );
      } else {
        writeBlock(modalCodes, gMotionModal.format(motionCode), xOutput.format(position.x), yOutput.format(position.y), feed, additionalCodes[0]);
        writeBlock(gMotionModal.format(motionCode), gOffset, zOutput.format(position.z), hOffset, additionalCodes[1]);
      }
      lengthCompensationActive = true;
    }
    forceModals(gMotionModal);
    if (isRequired) {
      additionalCodes = []; // clear additionalCodes buffer
    }
  });

  validate(lengthCompensationActive, "Tool length compensation is not active."); // make sure that lenght compensation is enabled
  if (!isRequired) { // simple positioning
    var modalCodes = formatWords(gAbsIncModal.format(90), gPlaneModal.format(17));
    if (!retracted && xyzFormat.getResultingValue(getCurrentPosition().z) < xyzFormat.getResultingValue(position.z)) {
      writeBlock(modalCodes, gMotionModal.format(motionCode), zOutput.format(position.z), feed);
    }
    forceXYZ();
    writeBlock(modalCodes, gMotionModal.format(motionCode), xOutput.format(position.x), yOutput.format(position.y), feed, additionalCodes);
  }
}

Matrix.getOrientationFromDirection = function (ijk) {
  var forward = ijk;
  var unitZ = new Vector(0, 0, 1);
  var W;
  if (Math.abs(Vector.dot(forward, unitZ)) < 0.5) {
    var imX = Vector.cross(forward, unitZ).getNormalized();
    W = new Matrix(imX, Vector.cross(forward, imX), forward);
  } else {
    var imX = Vector.cross(new Vector(0, 1, 0), forward).getNormalized();
    W = new Matrix(imX, Vector.cross(forward, imX), forward);
  }
  return W;
};
// <<<<< INCLUDED FROM include_files/initialPositioning_fanuc.cpi
// >>>>> INCLUDED FROM include_files/getOffsetCode_fanuc.cpi
function getOffsetCode() {
  // assumes a head configuration uses TCP on a Fanuc controller
  var offsetCode = 43;
  if (currentSection.isMultiAxis()) {
    if (machineConfiguration.isMultiAxisConfiguration() && tcp.isSupportedByOperation) {
      offsetCode = 43.4;
    } else if (!machineConfiguration.isMultiAxisConfiguration()) {
      offsetCode = 43.5;
    }
  }
  return offsetCode;
}
// <<<<< INCLUDED FROM include_files/getOffsetCode_fanuc.cpi