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

  FANUC post processor configuration.

  $Revision: 41332 022544416d58a9ccd14ba88980bb6a78cb535ac8 $
  $Date: 2017-02-13 16:35:57 $
  
  FORKID {04622D27-72F0-45d4-85FB-DB346FD1AE22}
*/

description = "FANUC 15M";
vendor = "Fanuc";
vendorUrl = "http://www.fanuc.com";
legal = "Copyright (C) 2012-2017 by Autodesk, Inc.";
certificationLevel = 2;
minimumRevision = 24000;

longDescription = "FANUC 15M for Matsuura MC-1000V7";

extension = "nc";
programNameIsInteger = true;
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(180);
allowHelicalMoves = true;
allowedCircularPlanes = undefined; // allow any circular motion



// user-defined properties
properties = {
  writeMachine: true, // write machine
  writeTools: true, // writes the tools
  writeHeader: true, // Write descriptive header
  preloadTool: true, // preloads next tool on tool change if any
  showSequenceNumbers: false, // show sequence numbers
  sequenceNumberStart: 10, // first sequence number
  sequenceNumberIncrement: 5, // increment for sequence numbers
  optionalStop: true, // optional stop
  o8: false, // specifies 8-digit program number
  separateWordsWithSpace: true, // specifies that the words should be separated with a white space
  allow3DArcs: false, // specifies that 3D circular arcs are allowed
  useRadius: false, // specifies that arcs should be output using the radius (R word) instead of the I, J, and K words
  forceIJK: false, // force output of IJK for G2/G3 when not using R word
  useParametricFeed: false, // specifies that feed should be output using Q values
  showNotes: false, // specifies that operation notes should be output
  useSmoothing: false, // specifies if smoothing should be used or not
  usePitchForTapping: true, // enable to use pitch instead of feed for the F-word for canned tapping cycles - note that your CNC control must be setup for pitch mode!
  useG95: false, // use IPR/MPR instead of IPM/MPM
  useG54x4: false, // Fanuc 30i supports G54.4 for Workpiece Error Compensation
  useSubroutines: false, // specifies that subroutines per each operation should be generated
  useSubroutinePatterns: false, // generates subroutines for patterned operation
  useSubroutineCycles: false // generates subroutines for cycle operations on same holes
};



var permittedCommentChars = " ABCDEFGHIJKLMNOPQRSTUVWXYZ0123456789.,=_-";

var gFormat = createFormat({prefix:"G", width:2, zeropad:true, decimals:1});
var mFormat = createFormat({prefix:"M", width:2, zeropad:true, decimals:1});
var hFormat = createFormat({prefix:"H", width:2, zeropad:true, decimals:1});
var dFormat = createFormat({prefix:"D", width:2, zeropad:true, decimals:1});
var probe100Format = createFormat({decimals:3, zeropad:true, width:3, forceDecimal:true});

var xyzFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true});
var ijkFormat = createFormat({decimals:6, forceDecimal:true}); // unitless
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({decimals:0});
var rpmFormat = createFormat({decimals:0});
var secFormat = createFormat({decimals:3, forceDecimal:true}); // seconds - range 0.001-99999.999
var milliFormat = createFormat({decimals:0}); // milliseconds // range 1-9999
var taperFormat = createFormat({decimals:1, scale:DEG});
var oFormat = createFormat({width:4, zeropad:true, decimals:0});

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 pitchOutput = createVariable({prefix:"F", force:true}, pitchFormat);
var sOutput = createVariable({prefix:"S", force:true}, rpmFormat);
var dOutput = createVariable({}, dFormat);

// circular output
var iOutput = createReferenceVariable({prefix:"I"}, xyzFormat);
var jOutput = createReferenceVariable({prefix:"J"}, xyzFormat);
var kOutput = createReferenceVariable({prefix:"K"}, 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 // G94-95
var gUnitModal = createModal({}, gFormat); // modal group 6 // G20-21
var gCycleModal = createModal({}, gFormat); // modal group 9 // G81, ...
var gRetractModal = createModal({}, gFormat); // modal group 10 // G98-99
var gRotationModal = createModal({force:true}, gFormat); // modal group 16 // G68-G69

// fixed settings
var firstFeedParameter = 500;
var useMultiAxisFeatures = true;
var forceMultiAxisIndexing = false; // force multi-axis indexing for 3D programs
var maximumLineLength = 80; // the maximum number of charaters allowed in a line
var minimumCyclePoints = 5; // minimum number of points in cycle operation to consider for subprogram

var WARNING_WORK_OFFSET = 0;

var ANGLE_PROBE_NOT_SUPPORTED = 0;
var ANGLE_PROBE_USE_ROTATION = 1;
var ANGLE_PROBE_USE_CAXIS = 2;

var SUB_UNKNOWN = 0;
var SUB_PATTERN = 1;
var SUB_CYCLE = 2;

// collected state
var sequenceNumber;
var currentWorkOffset;
var optionalSection = false;
var forceSpindleSpeed = false;
var activeMovements; // do not use by default
var currentFeedId;
var g68RotationMode = 0;
var angularProbingMode;
var subprograms = [];
var currentPattern = -1;
var firstPattern = false;
var currentSubprogram;
var definedPatterns = new Array();
var incrementalMode = false;
var saveShowSequenceNumbers;
var cycleSubprogramIsActive = false;
var patternIsActive = false;
var lastOperationComment = "";

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

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

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

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

function onOpen() {
  if (properties.useRadius) {
    maximumCircularSweep = toRad(90); // avoid potential center calculation errors for CNC
  }

  if (false) { // note: setup your machine here
    var aAxis = createAxis({coordinate:0, table:false, axis:[1, 0, 0], range:[-360, 360], preference:1});
    var cAxis = createAxis({coordinate:2, table:false, axis:[0, 0, 1], range:[-360, 360], preference:1});
    machineConfiguration = new MachineConfiguration(aAxis, cAxis);

    setMachineConfiguration(machineConfiguration);
    optimizeMachineAngles2(0); // TCP mode
  }

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

  if (properties.forceIJK) {
    iOutput = createReferenceVariable({prefix:"I", force:true}, xyzFormat);
    jOutput = createReferenceVariable({prefix:"J", force:true}, xyzFormat);
    kOutput = createReferenceVariable({prefix:"K", force:true}, xyzFormat);
  }

  sequenceNumber = properties.sequenceNumberStart;
  writeln("%");

  if (programName) {
    var programId;
    try {
      programId = getAsInt(programName);
    } catch(e) {
      error(localize("Program name must be a number."));
      return;
    }
    if (properties.o8) {
      if (!((programId >= 1) && (programId <= 99999999))) {
        error(localize("Program number is out of range."));
        return;
      }
    } else {
      if (!((programId >= 1) && (programId <= 9999))) {
        error(localize("Program number is out of range."));
        return;
      }
    }
    if ((programId >= 8000) && (programId <= 9999)) {
      warning(localize("Program number is reserved by tool builder."));
    }
    oFormat = createFormat({width:(properties.o8 ? 8 : 4), zeropad:true, decimals:0});
    if (programComment) {
      writeln("O" + oFormat.format(programId) + " (" + filterText(String(programComment).toUpperCase(), permittedCommentChars) + ")");
    } else {
      writeln("O" + oFormat.format(programId));
    }
    currentSubprogram = programId;
  } else {
    error(localize("Program name has not been specified."));
    return;
  }
  

// 20181126 by forhire
  // Write model and post details
  if (properties.writeHeader) {

    writeComment("Matsuura MC-1000V Fanuc15M");

    if (hasGlobalParameter("generated-by")) {
      var value = getGlobalParameter("generated-by");
      writeComment(value);
    }
    if (hasGlobalParameter("generated-at")) {
      var value = getGlobalParameter("generated-at");
      var date = new Date(value + " UTC");
      writeComment(date.toString());
    }
    if (hasGlobalParameter("username")) {
      var value = getGlobalParameter("username");
      writeComment(value);
    }
    if (hasGlobalParameter("document-path")) {
      var value = getGlobalParameter("document-path");
      writeComment(value);
    }
    if (hasGlobalParameter("job-description")) {
      var value = getGlobalParameter("job-description");
      writeComment(value);
    }
  }
  
// end by forhire

  // 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 (false) {
    // check for duplicate tool number
    for (var i = 0; i < getNumberOfSections(); ++i) {
      var sectioni = getSection(i);
      var tooli = sectioni.getTool();
      for (var j = i + 1; j < getNumberOfSections(); ++j) {
        var sectionj = getSection(j);
        var toolj = sectionj.getTool();
        if (tooli.number == toolj.number) {
          if (xyzFormat.areDifferent(tooli.diameter, toolj.diameter) ||
              xyzFormat.areDifferent(tooli.cornerRadius, toolj.cornerRadius) ||
              abcFormat.areDifferent(tooli.taperAngle, toolj.taperAngle) ||
              (tooli.numberOfFlutes != toolj.numberOfFlutes)) {
            error(
              subst(
                localize("Using the same tool number for different cutter geometry for operation '%1' and '%2'."),
                sectioni.hasParameter("operation-comment") ? sectioni.getParameter("operation-comment") : ("#" + (i + 1)),
                sectionj.hasParameter("operation-comment") ? sectionj.getParameter("operation-comment") : ("#" + (j + 1))
              )
            );
            return;
          }
        }
      }
    }
  }

  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), gFeedModeModal.format(properties.useG95 ? 95 : 94), gPlaneModal.format(17), gFormat.format(49), gFormat.format(40), gFormat.format(80));

  switch (unit) {
  case IN:
    writeBlock(gUnitModal.format(20));
    break;
  case MM:
    writeBlock(gUnitModal.format(21));
    break;
  }
  
  if (properties.useG95 && properties.useParametricFeed) {
    error(localize("Parametric feed is not supported when using G95."));
    return;
  }

  if (properties.useG95) {
    feedFormat = createFormat({decimals:(unit == MM ? 4 : 5), forceDecimal:true});
    feedOutput = createVariable({prefix:"F"}, feedFormat);
  }
}

function onComment(message) {
  var comments = String(message).split(";");
  for (comment in comments) {
    writeComment(comments[comment]);
  }
}

/** 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();
}

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

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

var lengthCompensationActive = false;
var retracted = false; // specifies that the tool has been retracted to the safe plane

/** Disables length compensation if currently active or if forced. */
function disableLengthCompensation(force) {
  if (lengthCompensationActive || force) {
    validate(retracted, "Cannot cancel length compensation if the machine is not fully retracted.");
    writeBlock(gFormat.format(49));
    lengthCompensationActive = false;
  }
}

var currentSmoothing = false;

function setSmoothing(mode) {
  if (mode == currentSmoothing) {
    return false;
  }

  // 1) Make sure G49 is called before the execution of G05.1 Q1 Rx
  // 2) G05.1 Q1 Rx must be engaged BEFORE G43-Tool Length Comp
  // 3) AICC and AIAPC need to be turned on and off for each tool
  // 4) AICC and AIAPC does not apply to canned drilling cycles
  validate(!lengthCompensationActive, "Length compensation is active while trying to update smoothing.");

  currentSmoothing = mode;
  writeBlock(gFormat.format(5.1), mode ? "Q1" : "Q0");
  return true;
}

function FeedContext(id, description, feed) {
  this.id = id;
  this.description = description;
  this.feed = feed;
}

function getFeed(f) {
  if (properties.useG95) {
    return feedOutput.format(f/spindleSpeed); // use feed value
  }
  if (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 "F#" + (firstFeedParameter + feedContext.id);
      }
    }
    currentFeedId = undefined; // force Q feed next time
  }
  return feedOutput.format(f); // use feed value
}

function initializeActiveFeeds() {
  activeMovements = new Array();
  var movements = currentSection.getMovements();
  
  var id = 0;
  var activeFeeds = new Array();
  if (hasParameter("operation:tool_feedCutting")) {
    if (movements & ((1 << MOVEMENT_CUTTING) | (1 << MOVEMENT_LINK_TRANSITION) | (1 << MOVEMENT_EXTENDED))) {
      var feedContext = new FeedContext(id, localize("Cutting"), getParameter("operation:tool_feedCutting"));
      activeFeeds.push(feedContext);
      activeMovements[MOVEMENT_CUTTING] = feedContext;
      activeMovements[MOVEMENT_LINK_TRANSITION] = feedContext;
      activeMovements[MOVEMENT_EXTENDED] = feedContext;
    }
    ++id;
    if (movements & (1 << MOVEMENT_PREDRILL)) {
      feedContext = new FeedContext(id, localize("Predrilling"), getParameter("operation:tool_feedCutting"));
      activeMovements[MOVEMENT_PREDRILL] = feedContext;
      activeFeeds.push(feedContext);
    }
    ++id;
  }
  
  if (hasParameter("operation:finishFeedrate")) {
    if (movements & (1 << MOVEMENT_FINISH_CUTTING)) {
      var feedContext = new FeedContext(id, localize("Finish"), getParameter("operation:finishFeedrate"));
      activeFeeds.push(feedContext);
      activeMovements[MOVEMENT_FINISH_CUTTING] = feedContext;
    }
    ++id;
  } else if (hasParameter("operation:tool_feedCutting")) {
    if (movements & (1 << MOVEMENT_FINISH_CUTTING)) {
      var feedContext = new FeedContext(id, localize("Finish"), getParameter("operation:tool_feedCutting"));
      activeFeeds.push(feedContext);
      activeMovements[MOVEMENT_FINISH_CUTTING] = feedContext;
    }
    ++id;
  }
  
  if (hasParameter("operation:tool_feedEntry")) {
    if (movements & (1 << MOVEMENT_LEAD_IN)) {
      var feedContext = new FeedContext(id, localize("Entry"), getParameter("operation:tool_feedEntry"));
      activeFeeds.push(feedContext);
      activeMovements[MOVEMENT_LEAD_IN] = feedContext;
    }
    ++id;
  }

  if (hasParameter("operation:tool_feedExit")) {
    if (movements & (1 << MOVEMENT_LEAD_OUT)) {
      var feedContext = new FeedContext(id, localize("Exit"), getParameter("operation:tool_feedExit"));
      activeFeeds.push(feedContext);
      activeMovements[MOVEMENT_LEAD_OUT] = feedContext;
    }
    ++id;
  }

  if (hasParameter("operation:noEngagementFeedrate")) {
    if (movements & (1 << MOVEMENT_LINK_DIRECT)) {
      var feedContext = new FeedContext(id, localize("Direct"), getParameter("operation:noEngagementFeedrate"));
      activeFeeds.push(feedContext);
      activeMovements[MOVEMENT_LINK_DIRECT] = feedContext;
    }
    ++id;
  } else if (hasParameter("operation:tool_feedCutting") &&
             hasParameter("operation:tool_feedEntry") &&
             hasParameter("operation:tool_feedExit")) {
    if (movements & (1 << MOVEMENT_LINK_DIRECT)) {
      var feedContext = new FeedContext(id, localize("Direct"), Math.max(getParameter("operation:tool_feedCutting"), getParameter("operation:tool_feedEntry"), getParameter("operation:tool_feedExit")));
      activeFeeds.push(feedContext);
      activeMovements[MOVEMENT_LINK_DIRECT] = feedContext;
    }
    ++id;
  }
  
  if (hasParameter("operation:reducedFeedrate")) {
    if (movements & (1 << MOVEMENT_REDUCED)) {
      var feedContext = new FeedContext(id, localize("Reduced"), getParameter("operation:reducedFeedrate"));
      activeFeeds.push(feedContext);
      activeMovements[MOVEMENT_REDUCED] = feedContext;
    }
    ++id;
  }

  if (hasParameter("operation:tool_feedRamp")) {
    if (movements & ((1 << MOVEMENT_RAMP) | (1 << MOVEMENT_RAMP_HELIX) | (1 << MOVEMENT_RAMP_PROFILE) | (1 << MOVEMENT_RAMP_ZIG_ZAG))) {
      var feedContext = new FeedContext(id, localize("Ramping"), getParameter("operation:tool_feedRamp"));
      activeFeeds.push(feedContext);
      activeMovements[MOVEMENT_RAMP] = feedContext;
      activeMovements[MOVEMENT_RAMP_HELIX] = feedContext;
      activeMovements[MOVEMENT_RAMP_PROFILE] = feedContext;
      activeMovements[MOVEMENT_RAMP_ZIG_ZAG] = feedContext;
    }
    ++id;
  }
  if (hasParameter("operation:tool_feedPlunge")) {
    if (movements & (1 << MOVEMENT_PLUNGE)) {
      var feedContext = new FeedContext(id, localize("Plunge"), getParameter("operation:tool_feedPlunge"));
      activeFeeds.push(feedContext);
      activeMovements[MOVEMENT_PLUNGE] = feedContext;
    }
    ++id;
  }
  if (true) { // high feed
    if (movements & (1 << MOVEMENT_HIGH_FEED)) {
      var feedContext = new FeedContext(id, localize("High Feed"), this.highFeedrate);
      activeFeeds.push(feedContext);
      activeMovements[MOVEMENT_HIGH_FEED] = feedContext;
    }
    ++id;
  }
  
  for (var i = 0; i < activeFeeds.length; ++i) {
    var feedContext = activeFeeds[i];
    writeBlock("#" + (firstFeedParameter + feedContext.id) + "=" + feedFormat.format(feedContext.feed), formatComment(feedContext.description));
  }
}

var currentWorkPlaneABC = undefined;

function forceWorkPlane() {
  currentWorkPlaneABC = undefined;
}

function defineWorkPlane(_section, _setWorkPlane) {
  var abc = new Vector(0, 0, 0);
  if (forceMultiAxisIndexing || !is3D() || machineConfiguration.isMultiAxisConfiguration()) { // use 5-axis indexing for multi-axis mode
    // set working plane after datum shift

    if (_section.isMultiAxis()) {
      forceWorkPlane();
      cancelTransformation();
    } else {
      if (useMultiAxisFeatures) {
        var eulerXYZ = _section.workPlane.getTransposed().eulerZYX_R;
        abc = new Vector(-eulerXYZ.x, -eulerXYZ.y, -eulerXYZ.z);
        cancelTransformation();
      } else {
        abc = getWorkPlaneMachineABC(_section.workPlane);
      }
      if (_setWorkPlane) {
        setWorkPlane(abc);
      }
    }
  } else { // pure 3D
    var remaining = _section.workPlane;
    if (!isSameDirection(remaining.forward, new Vector(0, 0, 1))) {
      error(localize("Tool orientation is not supported."));
      return abc;
    }
    setRotation(remaining);
  }
  return abc;
}

function setWorkPlane(abc) {
  if (!forceMultiAxisIndexing && is3D() && !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);

  if (useMultiAxisFeatures) {
    if (abc.isNonZero()) {
      writeBlock(gFormat.format(68.2), "X" + xyzFormat.format(0), "Y" + xyzFormat.format(0), "Z" + xyzFormat.format(0), "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 {
      writeBlock(gFormat.format(69)); // cancel frame
    }
  } else {
    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."));
  }
  
  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 isProbeOperation() {
  return (hasParameter("operation-strategy") &&
    getParameter("operation-strategy") == "probe");
}

var probeOutputWorkOffset = 1;

function onParameter(name, value) {
  if (name == "probe-output-work-offset") {
    probeOutputWorkOffset = (value > 0) ? value : 1;
  }
}

/** Returns true if the spatial vectors are significantly different. */
function areSpatialVectorsDifferent(_vector1, _vector2) {
  return (xyzFormat.getResultingValue(_vector1.x) != xyzFormat.getResultingValue(_vector2.x)) ||
    (xyzFormat.getResultingValue(_vector1.y) != xyzFormat.getResultingValue(_vector2.y)) ||
    (xyzFormat.getResultingValue(_vector1.z) != xyzFormat.getResultingValue(_vector2.z));
}

/** Returns true if the spatial boxes are a pure translation. */
function areSpatialBoxesTranslated(_box1, _box2) {
  return !areSpatialVectorsDifferent(Vector.diff(_box1[1], _box1[0]), Vector.diff(_box2[1], _box2[0])) &&
    !areSpatialVectorsDifferent(Vector.diff(_box2[0], _box1[0]), Vector.diff(_box2[1], _box1[1]));
}

function subprogramDefine(_initialPosition, _abc, _retracted, _zIsOutput) {
  // convert patterns into subprograms
  var usePattern = false;
  patternIsActive = false;
  if (currentSection.isPatterned && currentSection.isPatterned() && properties.useSubroutinePatterns) {
    currentPattern = currentSection.getPatternId();
    //debug("Pattern = " + currentPattern);
    firstPattern = true;
    for (var i = 0; i < definedPatterns.length; ++i) {
      if ((definedPatterns[i].patternType == SUB_PATTERN) && (currentPattern == definedPatterns[i].patternId)) {
        currentSubprogram = definedPatterns[i].subProgram;
        usePattern = definedPatterns[i].validPattern;
        firstPattern = false;
        break;
      }
    }

    if (firstPattern) {
      // determine if this is a valid pattern for creating a subprogram
      usePattern = subprogramIsValid(currentSection, currentPattern, SUB_PATTERN);
      if (usePattern) {
        currentSubprogram++;
      }
      definedPatterns.push({
        patternType: SUB_PATTERN,
        patternId: currentPattern,
        subProgram: currentSubprogram,
        validPattern: usePattern,
        initialPosition: _initialPosition,
        finalPosition: _initialPosition
      });
    }

    if (usePattern) {
      // make sure Z-position is output prior to subprogram call
      if (!_retracted && !_zIsOutput) {
        writeBlock(gMotionModal.format(0), zOutput.format(_initialPosition.z));
      }

      // call subprogram
      writeBlock(mFormat.format(98), "P" + oFormat.format(currentSubprogram));
      patternIsActive = true;

      if (firstPattern) {
        subprogramStart(_initialPosition, _abc, true);
      } else {
        skipRemainingSection();
      }
    }
  }

  // Output cycle operation as subprogram
  if (!usePattern && properties.useSubroutineCycles && currentSection.doesStrictCycle &&
      (currentSection.getNumberOfCycles() == 1) && currentSection.getNumberOfCyclePoints() >= minimumCyclePoints) {
    var finalPosition = getFramePosition(currentSection.getFinalPosition());
    currentPattern = currentSection.getNumberOfCyclePoints();
    firstPattern = true;
    for (var i = 0; i < definedPatterns.length; ++i) {
      if ((definedPatterns[i].patternType == SUB_CYCLE) && (currentPattern == definedPatterns[i].patternId) &&
          !areSpatialVectorsDifferent(_initialPosition, definedPatterns[i].initialPosition) &&
          !areSpatialVectorsDifferent(finalPosition, definedPatterns[i].finalPosition)) {
        currentSubprogram = definedPatterns[i].subProgram;
        usePattern = definedPatterns[i].validPattern;
        firstPattern = false;
        break;
      }
    }

    if (firstPattern) {
      // determine if this is a valid pattern for creating a subprogram
      usePattern = subprogramIsValid(currentSection, currentPattern, SUB_CYCLE);
      if (usePattern) {
        currentSubprogram++;
      }
      definedPatterns.push({
        patternType: SUB_CYCLE,
        patternId: currentPattern,
        subProgram: currentSubprogram,
        validPattern: usePattern,
        initialPosition: _initialPosition,
        finalPosition: finalPosition
      });
    }
    cycleSubprogramIsActive = usePattern;
  }

  // Output each operation as a subprogram
  if (!usePattern && properties.useSubroutines) {
    currentSubprogram++;
    writeBlock(mFormat.format(98), "P" + oFormat.format(currentSubprogram));
    firstPattern = true;
    subprogramStart(_initialPosition, _abc, false);
  }
}

function subprogramStart(_initialPosition, _abc, _incremental) {
  redirectToBuffer();
  var comment = "";
  if (hasParameter("operation-comment")) {
    comment = getParameter("operation-comment");
  }
  writeln(
    "O" + oFormat.format(currentSubprogram) +
    conditional(comment, formatComment(comment.substr(0, maximumLineLength - 2 - 6 - 1)))
  );
  saveShowSequenceNumbers = properties.showSequenceNumbers;
  properties.showSequenceNumbers = false;
  if (_incremental) {
    setIncrementalMode(_initialPosition, _abc);
  }
}

function subprogramEnd() {
  if (firstPattern) {
    writeBlock(mFormat.format(99));
    writeln("");
    subprograms += getRedirectionBuffer();
  }
  forceAny();
  firstPattern = false;
  properties.showSequenceNumbers = saveShowSequenceNumbers;
  closeRedirection();
}

function subprogramIsValid(_section, _patternId, _patternType) {
  var sectionId = _section.getId();
  var numberOfSections = getNumberOfSections();
  var validSubprogram = _patternType != SUB_CYCLE;

  var masterPosition = new Array();
  masterPosition[0] = getFramePosition(_section.getInitialPosition());
  masterPosition[1] = getFramePosition(_section.getFinalPosition());
  var tempBox = _section.getBoundingBox();
  var masterBox = new Array();
  masterBox[0] = getFramePosition(tempBox[0]);
  masterBox[1] = getFramePosition(tempBox[1]);

  var rotation = getRotation();
  var translation = getTranslation();

  for (var i = 0; i < numberOfSections; ++i) {
    var section = getSection(i);
    if (section.getId() != sectionId) {
      defineWorkPlane(section, false);
      // check for valid pattern
      if (_patternType == SUB_PATTERN) {
        if (section.getPatternId() == _patternId) {
          var patternPosition = new Array();
          patternPosition[0] = getFramePosition(section.getInitialPosition());
          patternPosition[1] = getFramePosition(section.getFinalPosition());
          tempBox = section.getBoundingBox();
          var patternBox = new Array();
          patternBox[0] = getFramePosition(tempBox[0]);
          patternBox[1] = getFramePosition(tempBox[1]);

          if (!areSpatialBoxesTranslated(masterPosition, patternPosition) || !areSpatialBoxesTranslated(masterBox, patternBox)) {
            validSubprogram = false;
            break;
          }
        }

      // check for valid cycle operation
      } else if (_patternType == SUB_CYCLE) {
        if ((section.getNumberOfCyclePoints() == _patternId) && (section.getNumberOfCycles() == 1)) {
          var patternInitial = getFramePosition(section.getInitialPosition());
          var patternFinal = getFramePosition(section.getFinalPosition());
          if (!areSpatialVectorsDifferent(patternInitial, masterPosition[0]) && !areSpatialVectorsDifferent(patternFinal, masterPosition[1])) {
            validSubprogram = true;
            break;
          }
        }
      }
    }
  }
  setRotation(rotation);
  setTranslation(translation);
  return(validSubprogram);
}

function setIncrementalMode(xyz, abc) {
  xOutput = createIncrementalVariable({prefix:"X"}, xyzFormat);
  xOutput.format(xyz.x);
  xOutput.format(xyz.x);
  yOutput = createIncrementalVariable({prefix:"Y"}, xyzFormat);
  yOutput.format(xyz.y);
  yOutput.format(xyz.y);
  zOutput = createIncrementalVariable({prefix:"Z"}, xyzFormat);
  zOutput.format(xyz.z);
  zOutput.format(xyz.z);
  aOutput = createIncrementalVariable({prefix:"A"}, abcFormat);
  aOutput.format(abc.x);
  aOutput.format(abc.x);
  bOutput = createIncrementalVariable({prefix:"B"}, abcFormat);
  bOutput.format(abc.y);
  bOutput.format(abc.y);
  cOutput = createIncrementalVariable({prefix:"C"}, abcFormat);
  cOutput.format(abc.z);
  cOutput.format(abc.z);
  gAbsIncModal.reset();
  writeBlock(gAbsIncModal.format(91));
  incrementalMode = true;
}

function setAbsoluteMode(xyz, abc) {
  if (incrementalMode) {
    xOutput = createVariable({prefix:"X"}, xyzFormat);
    xOutput.format(xyz.x);
    yOutput = createVariable({prefix:"Y"}, xyzFormat);
    yOutput.format(xyz.y);
    zOutput = createVariable({prefix:"Z"}, xyzFormat);
    zOutput.format(xyz.z);
    aOutput = createVariable({prefix:"A"}, abcFormat);
    aOutput.format(abc.x);
    bOutput = createVariable({prefix:"B"}, abcFormat);
    bOutput.format(abc.y);
    cOutput = createVariable({prefix:"C"}, abcFormat);
    cOutput.format(abc.z);
    gAbsIncModal.reset();
    writeBlock(gAbsIncModal.format(90));
    incrementalMode = false;
  }
}

function onSection() {
  var forceToolAndRetract = optionalSection && !currentSection.isOptional();
  optionalSection = currentSection.isOptional();

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

  retracted = true;
  var zIsOutput = false; // true if the Z-position has been output, used for patterns

  var newWorkOffset = isFirstSection() ||
    (getPreviousSection().workOffset != currentSection.workOffset); // work offset changes
  var newWorkPlane = isFirstSection() ||
    !isSameDirection(getPreviousSection().getGlobalFinalToolAxis(), currentSection.getGlobalInitialToolAxis());
  var forceSmoothing =  properties.useSmoothing &&
    (hasParameter("operation-strategy") && (getParameter("operation-strategy") == "drill") ||
    !isFirstSection() && getPreviousSection().hasParameter("operation-strategy") && (getPreviousSection().getParameter("operation-strategy") == "drill")); // force smoothing in case !insertToolCall (2d chamfer)
  if (insertToolCall || newWorkOffset || newWorkPlane || forceSmoothing) {
    
    // stop spindle before retract during tool change
    if (insertToolCall && !isFirstSection()) {
      onCommand(COMMAND_STOP_SPINDLE);
    }
    
    // retract to safe plane
    retracted = true;
    writeBlock(gFormat.format(28), gAbsIncModal.format(91), "Z" + xyzFormat.format(0)); // retract
    writeBlock(gAbsIncModal.format(90));
    forceXYZ();
    if ((insertToolCall && !isFirstSection()) || forceSmoothing) {
      disableLengthCompensation();
      setSmoothing(false);
    }
  }

  if (hasParameter("operation-comment")) {
    var comment = getParameter("operation-comment");
    if (comment && ((comment !== lastOperationComment) || !patternIsActive || insertToolCall)) {
      writeln("");
      writeComment(comment);
      lastOperationComment = comment;
    } else if (!patternIsActive || insertToolCall) {
      writeln("");
    }
  } else {
    writeln("");
  }
  
  if (properties.showNotes && hasParameter("notes")) {
    var notes = getParameter("notes");
    if (notes) {
      var lines = String(notes).split("\n");
      var r1 = new RegExp("^[\\s]+", "g");
      var r2 = new RegExp("[\\s]+$", "g");
      for (line in lines) {
        var comment = lines[line].replace(r1, "").replace(r2, "");
        if (comment) {
          writeComment(comment);
        }
      }
    }
  }
  
  if (insertToolCall) {
    forceWorkPlane();
    
    retracted = true;
    onCommand(COMMAND_COOLANT_OFF);
  
    if (!isFirstSection() && properties.optionalStop) {
      onCommand(COMMAND_OPTIONAL_STOP);
    }

    if (tool.number > 99) {
      warning(localize("Tool number exceeds maximum value."));
    }

    disableLengthCompensation();
    writeBlock("T" + toolFormat.format(tool.number), mFormat.format(6));
    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 (properties.preloadTool) {
      var nextTool = getNextTool(tool.number);
      if (nextTool) {
        writeBlock("T" + toolFormat.format(nextTool.number));
      } else {
        // preload first tool
        var section = getSection(0);
        var firstToolNumber = section.getTool().number;
        if (tool.number != firstToolNumber) {
          writeBlock("T" + toolFormat.format(firstToolNumber));
        }
      }
    }
  }
  
  if (!isProbeOperation() &&
      (insertToolCall ||
       forceSpindleSpeed ||
       isFirstSection() ||
       (rpmFormat.areDifferent(tool.spindleRPM, sOutput.getCurrent())) ||
       (tool.clockwise != getPreviousSection().getTool().clockwise))) {
    forceSpindleSpeed = false;
    
    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)
    );

    onCommand(COMMAND_START_CHIP_TRANSPORT);
    if (forceMultiAxisIndexing || !is3D() || machineConfiguration.isMultiAxisConfiguration()) {
      // writeBlock(mFormat.format(xxx)); // shortest path traverse
    }
  }

  // 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) {
      var p = workOffset - 6; // 1->...
      if (p > 300) {
        error(localize("Work offset out of range."));
        return;
      } else {
        if (workOffset != currentWorkOffset) {
          writeBlock(gFormat.format(54.1), "P" + p); // G54.1P
          currentWorkOffset = workOffset;
        }
      }
    } else {
      if (workOffset != currentWorkOffset) {
        writeBlock(gFormat.format(53 + workOffset)); // G54->G59
        currentWorkOffset = workOffset;
      }
    }
  }

  forceXYZ();

  var abc = defineWorkPlane(currentSection, true);

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

  if (properties.useSmoothing) {
    if (hasParameter("operation-strategy") && (getParameter("operation-strategy") != "drill")) {
      if (setSmoothing(true)) {
        // we force G43 using lengthCompensationActive
      }
    } else {
      if (setSmoothing(false)) {
        // we force G43 using lengthCompensationActive
      }
    }
  }

  forceAny();
  gMotionModal.reset();

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

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

    gMotionModal.reset();
    writeBlock(gPlaneModal.format(17));
    
    if (!machineConfiguration.isHeadConfiguration()) {
      writeBlock(
        gAbsIncModal.format(90),
        gMotionModal.format(0), xOutput.format(initialPosition.x), yOutput.format(initialPosition.y)
      );
      writeBlock(gMotionModal.format(0), gFormat.format(currentSection.isMultiAxis() ? 43.5 : 43), zOutput.format(initialPosition.z), hFormat.format(lengthOffset));
      lengthCompensationActive = true;
    } else {
      writeBlock(
        gAbsIncModal.format(90),
        gMotionModal.format(0),
        gFormat.format(currentSection.isMultiAxis() ? (machineConfiguration.isMultiAxisConfiguration() ? 43.4 : 43.5) : 43),
        xOutput.format(initialPosition.x),
        yOutput.format(initialPosition.y),
        zOutput.format(initialPosition.z), hFormat.format(lengthOffset)
      );
      lengthCompensationActive = true;
    }

    gMotionModal.reset();
  } else {
    writeBlock(
      gAbsIncModal.format(90),
      gMotionModal.format(0),
      xOutput.format(initialPosition.x),
      yOutput.format(initialPosition.y)
    );
  }

  validate(lengthCompensationActive, "Length compensation is not active.");

  if (properties.useParametricFeed &&
      hasParameter("operation-strategy") &&
      (getParameter("operation-strategy") != "drill") && // legacy
      !(currentSection.hasAnyCycle && currentSection.hasAnyCycle())) {
    if (!insertToolCall &&
        activeMovements &&
        (getCurrentSectionId() > 0) &&
        (getPreviousSection().getPatternId() == currentSection.getPatternId())) {
      // use the current feeds
    } else {
      initializeActiveFeeds();
    }
  } else {
    activeMovements = undefined;
  }

  if (isProbeOperation()) {
    if (g68RotationMode != 0) {
      error(localize("You cannot probe while G68 Rotation is in effect."));
      return;
    }
    angularProbingMode = getAngularProbingMode();
    writeBlock(gFormat.format(65), "P" + 9832); // spin the probe on
  }

  // define subprogram
  subprogramDefine(initialPosition, abc, retracted, zIsOutput);

  retracted = false;
}

function onDwell(seconds) {
  if (seconds > 99999.999) {
    warning(localize("Dwelling time is out of range."));
  }
  milliseconds = clamp(1, seconds * 1000, 99999999);
  writeBlock(gFeedModeModal.format(94), gFormat.format(4), "P" + milliFormat.format(milliseconds));
  writeBlock(gFeedModeModal.format(properties.useG95 ? 95 : 94)); // back to G95
}

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

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

function getCommonCycle(x, y, z, r, c) {
  forceXYZ(); // force xyz on first drill hole of any cycle
  if (incrementalMode) {
    zOutput.format(c);
    return [xOutput.format(x), yOutput.format(y),
      "Z" + xyzFormat.format(z - r),
      "R" + xyzFormat.format(r - c)];
  } else {
    return [xOutput.format(x), yOutput.format(y),
      zOutput.format(z),
      "R" + xyzFormat.format(r)];
  }
}

/** Convert approach to sign. */
function approach(value) {
  validate((value == "positive") || (value == "negative"), "Invalid approach.");
  return (value == "positive") ? 1 : -1;
}

/**
  Determine if angular probing is supported
*/
function getAngularProbingMode() {
  if (machineConfiguration.isMultiAxisConfiguration()) {
    if (machineConfiguration.isMachineCoordinate(2)) {
      return ANGLE_PROBE_USE_CAXIS;
    } else {
      return ANGLE_PROBE_NOT_SUPPORTED;
    }
  } else {
    return ANGLE_PROBE_USE_ROTATION;
  }
}

/**
  Output rotation offset based on angular probing cycle.
*/
function setProbingAngle() {
  if ((g68RotationMode == 1) || (g68RotationMode == 2)) { // Rotate coordinate system for Angle Probing
    if (!properties.useG54x4) {
      gRotationModal.reset();
      gAbsIncModal.reset();
      writeBlock(
        gRotationModal.format(68), gAbsIncModal.format(90),
        (g68RotationMode == 1) ? "X0" : "X[#135]",
        (g68RotationMode == 1) ? "Y0" : "Y[#136]",
        "Z0", "I0.0", "J0.0", "K1.0", "R[#139]"
      );
      g68RotationMode = 3;
    } else if (angularProbingMode != ANGLE_PROBE_NOT_SUPPORTED) {
      writeBlock("#26010=#135");
      writeBlock("#26011=#136");
      writeBlock("#26012=#137");
      writeBlock("#26015=#139");
      writeBlock(gFormat.format(54.4), "P1");
      g68RotationMode = 0;
    } else {
      error(localize("Angular probing is not supported for this machine configuration."));
      return;
    }
  }
}

function onCyclePoint(x, y, z) {
  var probeWorkOffsetCode;
  if (isProbeOperation()) {
    var workOffset = probeOutputWorkOffset ? probeOutputWorkOffset : currentWorkOffset;
    if (workOffset > 99) {
      error(localize("Work offset is out of range."));
      return;
    } else if (workOffset > 6) {
      probeWorkOffsetCode = probe100Format.format(workOffset - 6 + 100);
    } else {
      probeWorkOffsetCode = workOffset + "."; // G54->G59
    }
  }

  if (isFirstCyclePoint()) {
    repositionToCycleClearance(cycle, x, y, z);
    
    // return to initial Z which is clearance plane and set absolute mode

    var F = cycle.feedrate;
    if (properties.useG95) {
      F /= spindleSpeed;
    }
    var P = (cycle.dwell == 0) ? 0 : clamp(1, cycle.dwell * 1000, 99999999); // in milliseconds

    var forceCycle = false;
    switch (cycleType) {
    case "drilling":
      writeBlock(
        gRetractModal.format(98), gCycleModal.format(81),
        getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
        feedOutput.format(F)
      );
      break;
    case "counter-boring":
      if (P > 0) {
        writeBlock(
          gRetractModal.format(98), gCycleModal.format(82),
          getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
          "P" + milliFormat.format(P),
          feedOutput.format(F)
        );
      } else {
        writeBlock(
          gRetractModal.format(98), gCycleModal.format(81),
          getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
          feedOutput.format(F)
        );
      }
      break;
    case "chip-breaking":
      // cycle.accumulatedDepth is ignored
      if (P > 0) {
        expandCyclePoint(x, y, z);
      } else {
        writeBlock(
          gRetractModal.format(98), gCycleModal.format(73),
          getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
          "Q" + xyzFormat.format(cycle.incrementalDepth),
          feedOutput.format(F)
        );
      }
      break;
    case "deep-drilling":
      if (P > 0) {
        expandCyclePoint(x, y, z);
      } else {
        writeBlock(
          gRetractModal.format(98), gCycleModal.format(83),
          getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
          "Q" + xyzFormat.format(cycle.incrementalDepth),
          // conditional(P > 0, "P" + milliFormat.format(P)),
          feedOutput.format(F)
        );
      }
      break;
    case "tapping":
      writeBlock(sOutput.format(tool.spindleRPM));
      if (properties.usePitchForTapping) {
        writeBlock(
          gRetractModal.format(98), gFeedModeModal.format(95), gCycleModal.format((tool.type == TOOL_TAP_LEFT_HAND) ? 84.3 : 84.2),
          getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
          "P" + milliFormat.format(P),
          pitchOutput.format(tool.threadPitch)
        );
        forceFeed();
      } else {
        writeBlock(
          gRetractModal.format(98), gCycleModal.format((tool.type == TOOL_TAP_LEFT_HAND) ? 84.3 : 84.2),
          getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
          "P" + milliFormat.format(P),
          feedOutput.format(F)
        );
      }
      break;
    case "left-tapping":
      writeBlock(sOutput.format(tool.spindleRPM));
      if (properties.usePitchForTapping) {
        writeBlock(
          gRetractModal.format(98), gFeedModeModal.format(95), gCycleModal.format(84.3),
          getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
          "P" + milliFormat.format(P),
          pitchOutput.format(tool.threadPitch)
        );
        forceFeed();
      } else {
        writeBlock(
          gRetractModal.format(98), gCycleModal.format(84.3),
          getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
          "P" + milliFormat.format(P),
          feedOutput.format(F)
        );
      }
      break;
    case "right-tapping":
      writeBlock(sOutput.format(tool.spindleRPM));
      if (properties.usePitchForTapping) {
        writeBlock(
          gRetractModal.format(98), gFeedModeModal.format(95), gCycleModal.format(84.2),
          getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
          "P" + milliFormat.format(P),
          pitchOutput.format(tool.threadPitch)
        );
        forceFeed();
      } else {
        writeBlock(
          gRetractModal.format(98), gCycleModal.format(84.2),
          getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
          "P" + milliFormat.format(P),
          feedOutput.format(F)
        );
      }
      break;
    case "tapping-with-chip-breaking":
    case "left-tapping-with-chip-breaking":
    case "right-tapping-with-chip-breaking":
      writeBlock(sOutput.format(tool.spindleRPM));
      if (properties.usePitchForTapping) {
        writeBlock(
          gRetractModal.format(98), gFeedModeModal.format(95), gCycleModal.format((tool.type == TOOL_TAP_LEFT_HAND ? 84.3 : 84.2)),
          getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
          "P" + milliFormat.format(P),
          "Q" + xyzFormat.format(cycle.incrementalDepth),
          pitchOutput.format(tool.threadPitch)
        );
        forceFeed();
      } else {
        writeBlock(
          gRetractModal.format(98), gCycleModal.format((tool.type == TOOL_TAP_LEFT_HAND ? 84.3 : 84.2)),
          getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
          "P" + milliFormat.format(P),
          "Q" + xyzFormat.format(cycle.incrementalDepth),
          feedOutput.format(F)
        );
      }
      break;
    case "fine-boring":
      writeBlock(
        gRetractModal.format(98), gCycleModal.format(76),
        getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
        "P" + milliFormat.format(P), // not optional
        "Q" + xyzFormat.format(cycle.shift),
        feedOutput.format(F)
      );
      break;
    case "back-boring":
      var dx = (gPlaneModal.getCurrent() == 19) ? cycle.backBoreDistance : 0;
      var dy = (gPlaneModal.getCurrent() == 18) ? cycle.backBoreDistance : 0;
      var dz = (gPlaneModal.getCurrent() == 17) ? cycle.backBoreDistance : 0;
      writeBlock(
        gRetractModal.format(98), gCycleModal.format(87),
        getCommonCycle(x - dx, y - dy, z - dz, cycle.bottom, cycle.clearance),
        "Q" + xyzFormat.format(cycle.shift),
        "P" + milliFormat.format(P), // not optional
        feedOutput.format(F)
      );
      break;
    case "reaming":
      if (P > 0) {
        writeBlock(
          gRetractModal.format(98), gCycleModal.format(89),
          getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
          "P" + milliFormat.format(P),
          feedOutput.format(F)
        );
      } else {
        writeBlock(
          gRetractModal.format(98), gCycleModal.format(85),
          getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
          feedOutput.format(F)
        );
      }
      break;
    case "stop-boring":
      if (P > 0) {
        expandCyclePoint(x, y, z);
      } else {
        writeBlock(
          gRetractModal.format(98), gCycleModal.format(86),
          getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
          feedOutput.format(F)
        );
      }
      break;
    case "manual-boring":
      writeBlock(
        gRetractModal.format(98), gCycleModal.format(88),
        getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
        "P" + milliFormat.format(P), // not optional
        feedOutput.format(F)
      );
      break;
    case "boring":
      if (P > 0) {
        writeBlock(
          gRetractModal.format(98), gCycleModal.format(89),
          getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
          "P" + milliFormat.format(P), // not optional
          feedOutput.format(F)
        );
      } else {
        writeBlock(
          gRetractModal.format(98), gCycleModal.format(85),
          getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
          feedOutput.format(F)
        );
      }
      break;
      
    case "probing-x":
      forceXYZ();
      // move slowly always from clearance not retract
      writeBlock(gFormat.format(65), "P" + 9810, zOutput.format(z - cycle.depth), getFeed(F)); // protected positioning move
      writeBlock(
        gFormat.format(65), "P" + 9811,
        "X" + xyzFormat.format(x + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter/2)),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        "S" + probeWorkOffsetCode // "T" + toolFormat.format(probeToolDiameterOffset)
      );
      break;
    case "probing-y":
      forceXYZ();
      writeBlock(gFormat.format(65), "P" + 9810, zOutput.format(z - cycle.depth), getFeed(F)); // protected positioning move
      writeBlock(
        gFormat.format(65), "P" + 9811,
        "Y" + xyzFormat.format(y + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter/2)),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        "S" + probeWorkOffsetCode // "T" + toolFormat.format(probeToolDiameterOffset)
      );
      break;
    case "probing-z":
      forceXYZ();
      writeBlock(gFormat.format(65), "P" + 9810, zOutput.format(Math.min(z - cycle.depth + cycle.probeClearance, cycle.retract)), getFeed(F)); // protected positioning move
      writeBlock(
        gFormat.format(65), "P" + 9811,
        "Z" + xyzFormat.format(z - cycle.depth),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        "S" + probeWorkOffsetCode // "T" + toolFormat.format(probeToolLengthOffset)
      );
      break;
    case "probing-x-wall":
      writeBlock(gFormat.format(65), "P" + 9810, zOutput.format(z), getFeed(F)); // protected positioning move
      writeBlock(
        gFormat.format(65), "P" + 9812,
        "X" + xyzFormat.format(cycle.width1),
        zOutput.format(z - cycle.depth),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        "R" + xyzFormat.format(cycle.probeClearance),
        "S" + probeWorkOffsetCode // "T" + toolFormat.format(probeToolDiameterOffset)
      );
      break;
    case "probing-y-wall":
      writeBlock(gFormat.format(65), "P" + 9810, zOutput.format(z), getFeed(F)); // protected positioning move
      writeBlock(
        gFormat.format(65), "P" + 9812,
        "Y" + xyzFormat.format(cycle.width1),
        zOutput.format(z - cycle.depth),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        "R" + xyzFormat.format(cycle.probeClearance),
        "S" + probeWorkOffsetCode // "T" + toolFormat.format(probeToolDiameterOffset)
      );
      break;
    case "probing-x-channel":
      writeBlock(gFormat.format(65), "P" + 9810, zOutput.format(z - cycle.depth), getFeed(F)); // protected positioning move
      writeBlock(
        gFormat.format(65), "P" + 9812,
        "X" + xyzFormat.format(cycle.width1),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        // not required "R" + xyzFormat.format(cycle.probeClearance),
        "S" + probeWorkOffsetCode // "T" + toolFormat.format(probeToolDiameterOffset)
      );
      break;
    case "probing-x-channel-with-island":
      writeBlock(gFormat.format(65), "P" + 9810, zOutput.format(z), getFeed(F)); // protected positioning move
      writeBlock(
        gFormat.format(65), "P" + 9812,
        "X" + xyzFormat.format(cycle.width1),
        zOutput.format(z - cycle.depth),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        "R" + xyzFormat.format(-cycle.probeClearance),
        "S" + probeWorkOffsetCode
      );
      break;
    case "probing-y-channel":
      yOutput.reset();
      writeBlock(gFormat.format(65), "P" + 9810, zOutput.format(z - cycle.depth), getFeed(F)); // protected positioning move
      writeBlock(
        gFormat.format(65), "P" + 9812,
        "Y" + xyzFormat.format(cycle.width1),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        // not required "R" + xyzFormat.format(cycle.probeClearance),
        "S" + probeWorkOffsetCode
      );
      break;
    case "probing-y-channel-with-island":
      yOutput.reset();
      writeBlock(gFormat.format(65), "P" + 9810, zOutput.format(z), getFeed(F)); // protected positioning move
      writeBlock(
        gFormat.format(65), "P" + 9812,
        "Y" + xyzFormat.format(cycle.width1),
        zOutput.format(z - cycle.depth),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        "R" + xyzFormat.format(-cycle.probeClearance),
        "S" + probeWorkOffsetCode
      );
      break;
    case "probing-xy-circular-boss":
      writeBlock(gFormat.format(65), "P" + 9810, zOutput.format(z), getFeed(F)); // protected positioning move
      writeBlock(
        gFormat.format(65), "P" + 9814,
        "D" + xyzFormat.format(cycle.width1),
        "Z" + xyzFormat.format(z - cycle.depth),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        "R" + xyzFormat.format(cycle.probeClearance),
        "S" + probeWorkOffsetCode
      );
      break;
    case "probing-xy-circular-hole":
      writeBlock(gFormat.format(65), "P" + 9810, zOutput.format(z - cycle.depth), getFeed(F)); // protected positioning move
      writeBlock(
        gFormat.format(65), "P" + 9814,
        "D" + xyzFormat.format(cycle.width1),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        // not required "R" + xyzFormat.format(cycle.probeClearance),
        "S" + probeWorkOffsetCode
      );
      break;
    case "probing-xy-circular-hole-with-island":
      writeBlock(gFormat.format(65), "P" + 9810, zOutput.format(z), getFeed(F)); // protected positioning move
      writeBlock(
        gFormat.format(65), "P" + 9814,
        "Z" + xyzFormat.format(z - cycle.depth),
        "D" + xyzFormat.format(cycle.width1),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        "R" + xyzFormat.format(-cycle.probeClearance),
        "S" + probeWorkOffsetCode
      );
      break;
    case "probing-xy-rectangular-hole":
      writeBlock(gFormat.format(65), "P" + 9810, zOutput.format(z - cycle.depth), getFeed(F)); // protected positioning move
      writeBlock(
        gFormat.format(65), "P" + 9812,
        "X" + xyzFormat.format(cycle.width1),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        // not required "R" + xyzFormat.format(-cycle.probeClearance),
        "S" + probeWorkOffsetCode
      );
      writeBlock(
        gFormat.format(65), "P" + 9812,
        "Y" + xyzFormat.format(cycle.width2),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        // not required "R" + xyzFormat.format(-cycle.probeClearance),
        "S" + probeWorkOffsetCode
      );
      break;
    case "probing-xy-rectangular-boss":
      writeBlock(gFormat.format(65), "P" + 9810, zOutput.format(z), getFeed(F)); // protected positioning move
      writeBlock(
        gFormat.format(65), "P" + 9812,
        "Z" + xyzFormat.format(z - cycle.depth),
        "X" + xyzFormat.format(cycle.width1),
        "R" + xyzFormat.format(cycle.probeClearance),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        "S" + probeWorkOffsetCode
      );
      writeBlock(
        gFormat.format(65), "P" + 9812,
        "Z" + xyzFormat.format(z - cycle.depth),
        "Y" + xyzFormat.format(cycle.width2),
        "R" + xyzFormat.format(cycle.probeClearance),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        "S" + probeWorkOffsetCode
      );
      break;
    case "probing-xy-rectangular-hole-with-island":
      writeBlock(gFormat.format(65), "P" + 9810, zOutput.format(z), getFeed(F)); // protected positioning move
      writeBlock(
        gFormat.format(65), "P" + 9812,
        "Z" + xyzFormat.format(z - cycle.depth),
        "X" + xyzFormat.format(cycle.width1),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        "R" + xyzFormat.format(-cycle.probeClearance),
        "S" + probeWorkOffsetCode
      );
      writeBlock(
        gFormat.format(65), "P" + 9812,
        "Z" + xyzFormat.format(z - cycle.depth),
        "Y" + xyzFormat.format(cycle.width2),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        "R" + xyzFormat.format(-cycle.probeClearance),
        "S" + probeWorkOffsetCode
      );
      break;

    case "probing-xy-inner-corner":
      var cornerX = x + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter/2);
      var cornerY = y + approach(cycle.approach2) * (cycle.probeClearance + tool.diameter/2);
      var cornerI = 0;
      var cornerJ = 0;
      if (cycle.probeSpacing !== undefined) {
        cornerI = cycle.probeSpacing;
        cornerJ = cycle.probeSpacing;
      }
      if ((cornerI != 0) && (cornerJ != 0)) {
        g68RotationMode = 2;
      }
      writeBlock(gFormat.format(65), "P" + 9810, zOutput.format(z - cycle.depth), getFeed(F)); // protected positioning move
      writeBlock(
        gFormat.format(65), "P" + 9815, xOutput.format(cornerX), yOutput.format(cornerY),
        conditional(cornerI != 0, "I" + xyzFormat.format(cornerI)),
        conditional(cornerJ != 0, "J" + xyzFormat.format(cornerJ)),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        conditional((g68RotationMode == 0) || (angularProbingMode == ANGLE_PROBE_USE_CAXIS), "S" + probeWorkOffsetCode)
      );
      break;
    case "probing-xy-outer-corner":
      var cornerX = x + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter/2);
      var cornerY = y + approach(cycle.approach2) * (cycle.probeClearance + tool.diameter/2);
      var cornerI = 0;
      var cornerJ = 0;
      if (cycle.probeSpacing !== undefined) {
        cornerI = cycle.probeSpacing;
        cornerJ = cycle.probeSpacing;
      }
      if ((cornerI != 0) && (cornerJ != 0)) {
        g68RotationMode = 2;
      }
      writeBlock(gFormat.format(65), "P" + 9810, zOutput.format(z - cycle.depth), getFeed(F)); // protected positioning move
      writeBlock(
        gFormat.format(65), "P" + 9816, xOutput.format(cornerX), yOutput.format(cornerY),
        conditional(cornerI != 0, "I" + xyzFormat.format(cornerI)),
        conditional(cornerJ != 0, "J" + xyzFormat.format(cornerJ)),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        conditional((g68RotationMode == 0) || (angularProbingMode == ANGLE_PROBE_USE_CAXIS), "S" + probeWorkOffsetCode)
      );
      break;
    case "probing-x-plane-angle":
      forceXYZ();
      writeBlock(gFormat.format(65), "P" + 9810, zOutput.format(z - cycle.depth), getFeed(F)); // protected positioning move
      writeBlock(
        gFormat.format(65), "P" + 9843,
        "X" + xyzFormat.format(x + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter/2)),
        "D" + xyzFormat.format(cycle.probeSpacing),
        "Q" + xyzFormat.format(cycle.probeOvertravel)
      );
      g68RotationMode = 1;
      break;
    case "probing-y-plane-angle":
      forceXYZ();
      writeBlock(gFormat.format(65), "P" + 9810, zOutput.format(z - cycle.depth), getFeed(F)); // protected positioning move
      writeBlock(
        gFormat.format(65), "P" + 9843,
        "Y" + xyzFormat.format(y + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter/2)),
        "D" + xyzFormat.format(cycle.probeSpacing),
        "Q" + xyzFormat.format(cycle.probeOvertravel)
      );
      g68RotationMode = 1;
      break;
    default:
      expandCyclePoint(x, y, z);
    }

    // place cycle operation in subprogram
    if (cycleSubprogramIsActive) {
      if (forceCycle || cycleExpanded || isProbeOperation()) {
        cycleSubprogramIsActive = false;
      } else {
        // call subprogram
        writeBlock(mFormat.format(98), "P" + oFormat.format(currentSubprogram));
        subprogramStart(new Vector(x, y, z), new Vector(0, 0, 0), false);
      }
    }

  // 2nd through nth cycle point
  } else {
    if (isProbeOperation()) {
      // do nothing
    } else if (cycleExpanded) {
      expandCyclePoint(x, y, z);
    } else {
      if (!xyzFormat.areDifferent(x, xOutput.getCurrent()) &&
          !xyzFormat.areDifferent(y, yOutput.getCurrent()) &&
          !xyzFormat.areDifferent(z, zOutput.getCurrent())) {
        switch (gPlaneModal.getCurrent()) {
        case 17: // XY
          xOutput.reset(); // at least one axis is required
          break;
        case 18: // ZX
          zOutput.reset(); // at least one axis is required
          break;
        case 19: // YZ
          yOutput.reset(); // at least one axis is required
          break;
        }
      }
      if (incrementalMode) {
        switch (gPlaneModal.getCurrent()) {
        case 17: // XY
          zOutput.format(cycle.retract);
          break;
        case 18: // ZX
          yOutput.format(cycle.retract);
          break;
        case 19: // YZ
          xOutput.format(cycle.retract);
          break;
        }
      }
      writeBlock(xOutput.format(x), yOutput.format(y), zOutput.format(z));
    }
  }
}

function onCycleEnd() {
  if (isProbeOperation()) {
    writeBlock(gFormat.format(65), "P" + 9810, zOutput.format(cycle.clearance)); // protected retract move
    writeBlock(gFormat.format(65), "P" + 9833); // spin the probe off
    setProbingAngle(); // define rotation of part
    // we can move in rapid from retract optionally
  } else {
    if (cycleSubprogramIsActive) {
      subprogramEnd();
      cycleSubprogramIsActive = false;
    }
    if (!cycleExpanded) {
      writeBlock(conditional(!properties.useG95, gFeedModeModal.format(94)), gCycleModal.format(80));
      zOutput.reset();
    }
  }
}

var pendingRadiusCompensation = -1;

function onRadiusCompensation() {
  pendingRadiusCompensation = radiusCompensation;
}

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();
  }
}

function onLinear(_x, _y, _z, feed) {
  var x = xOutput.format(_x);
  var y = yOutput.format(_y);
  var z = zOutput.format(_z);
  var f = getFeed(feed);
  if (x || y || z) {
    if (pendingRadiusCompensation >= 0) {
      pendingRadiusCompensation = -1;
      var d = tool.diameterOffset;
      if (d > 99) {
        warning(localize("The diameter offset exceeds the maximum value."));
      }
      writeBlock(gPlaneModal.format(17));
      switch (radiusCompensation) {
      case RADIUS_COMPENSATION_LEFT:
        dOutput.reset();
        writeBlock(gMotionModal.format(1), gFormat.format(41), x, y, z, dOutput.format(d), f);
        break;
      case RADIUS_COMPENSATION_RIGHT:
        dOutput.reset();
        writeBlock(gMotionModal.format(1), gFormat.format(42), x, y, z, dOutput.format(d), 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
      forceFeed(); // force feed on next line
    } else {
      writeBlock(gMotionModal.format(1), f);
    }
  }
}

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()) {
    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);
  } else {
    forceXYZ();
    var x = xOutput.format(_x);
    var y = yOutput.format(_y);
    var z = zOutput.format(_z);
    var i = ijkFormat.format(_a);
    var j = ijkFormat.format(_b);
    var k = ijkFormat.format(_c);
    writeBlock(gMotionModal.format(0), x, y, z, "I" + i, "J" + j, "K" + k);
  }
  forceFeed();
}

function onLinear5D(_x, _y, _z, _a, _b, _c, feed) {
  if (pendingRadiusCompensation >= 0) {
    error(localize("Radius compensation cannot be activated/deactivated for 5-axis move."));
    return;
  }

  if (currentSection.isOptimizedForMachine()) {
    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 = getFeed(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
        forceFeed(); // force feed on next line
      } else {
        writeBlock(gMotionModal.format(1), f);
      }
    }
  } else {
    forceXYZ();
    var x = xOutput.format(_x);
    var y = yOutput.format(_y);
    var z = zOutput.format(_z);
    var i = ijkFormat.format(_a);
    var j = ijkFormat.format(_b);
    var k = ijkFormat.format(_c);
    var f = getFeed(feed);
    if (x || y || z || i || j || k) {
      writeBlock(gMotionModal.format(1), x, y, z, "I" + i, "J" + j, "K" + k, f);
    } else if (f) {
      if (getNextRecord().isMotion()) { // try not to output feed without motion
        forceFeed(); // 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 (properties.useRadius || isHelical()) { // radius mode does not support full arcs
      linearize(tolerance);
      return;
    }
    switch (getCircularPlane()) {
    case PLANE_XY:
      writeBlock(gPlaneModal.format(17), gMotionModal.format(clockwise ? 2 : 3), iOutput.format(cx - start.x, 0), jOutput.format(cy - start.y, 0), getFeed(feed));
      break;
    case PLANE_ZX:
      writeBlock(gPlaneModal.format(18), gMotionModal.format(clockwise ? 2 : 3), iOutput.format(cx - start.x, 0), kOutput.format(cz - start.z, 0), getFeed(feed));
      break;
    case PLANE_YZ:
      writeBlock(gPlaneModal.format(19), gMotionModal.format(clockwise ? 2 : 3), jOutput.format(cy - start.y, 0), kOutput.format(cz - start.z, 0), getFeed(feed));
      break;
    default:
      linearize(tolerance);
    }
  } else if (!properties.useRadius) {
    switch (getCircularPlane()) {
    case PLANE_XY:
      writeBlock(gPlaneModal.format(17), 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), getFeed(feed));
      break;
    case PLANE_ZX:
      writeBlock(gPlaneModal.format(18), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), iOutput.format(cx - start.x, 0), kOutput.format(cz - start.z, 0), getFeed(feed));
      break;
    case PLANE_YZ:
      writeBlock(gPlaneModal.format(19), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), jOutput.format(cy - start.y, 0), kOutput.format(cz - start.z, 0), getFeed(feed));
      break;
    default:
      if (properties.allow3DArcs) {
        // make sure maximumCircularSweep is well below 360deg
        // we could use G02.4 or G03.4 - direction is calculated
        var ip = getPositionU(0.5);
        writeBlock(gMotionModal.format(clockwise ? 2.4 : 3.4), xOutput.format(ip.x), yOutput.format(ip.y), zOutput.format(ip.z), getFeed(feed));
        writeBlock(xOutput.format(x), yOutput.format(y), zOutput.format(z));
      } else {
        linearize(tolerance);
      }
    }
  } else { // use radius mode
    var r = getCircularRadius();
    if (toDeg(getCircularSweep()) > (180 + 1e-9)) {
      r = -r; // allow up to <360 deg arcs
    }
    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), getFeed(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), getFeed(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), getFeed(feed));
      break;
    default:
      if (properties.allow3DArcs) {
        // make sure maximumCircularSweep is well below 360deg
        // we could use G02.4 or G03.4 - direction is calculated
        var ip = getPositionU(0.5);
        writeBlock(gMotionModal.format(clockwise ? 2.4 : 3.4), xOutput.format(ip.x), yOutput.format(ip.y), zOutput.format(ip.z), getFeed(feed));
        writeBlock(xOutput.format(x), yOutput.format(y), zOutput.format(z));
      } else {
        linearize(tolerance);
      }
    }
  }
}

var currentCoolantMode = COOLANT_OFF;

function setCoolant(coolant) {
  if (isProbeOperation()) { // avoid coolant output for probing
    coolant = COOLANT_OFF;
  }

  if (coolant == currentCoolantMode) {
    return; // coolant is already active
  }
  
  if (coolant == COOLANT_OFF) {
    writeBlock(mFormat.format((currentCoolantMode == COOLANT_THROUGH_TOOL) ? 89 : 9));
    currentCoolantMode = COOLANT_OFF;
    return;
  }

  var m;
  switch (coolant) {
  case COOLANT_FLOOD:
    m = 8;
    break;
  case COOLANT_THROUGH_TOOL:
    m = 88;
    break;
  default:
    onUnsupportedCoolant(coolant);
    m = 9;
  }
  
  if (m) {
    writeBlock(mFormat.format(m));
    currentCoolantMode = coolant;
  }
}

var mapCommand = {
  COMMAND_STOP:0,
  COMMAND_OPTIONAL_STOP:1,
  COMMAND_END:2,
  COMMAND_SPINDLE_CLOCKWISE:3,
  COMMAND_SPINDLE_COUNTERCLOCKWISE:4,
  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(COOLANT_FLOOD);
    return;
  case COMMAND_STOP:
    writeBlock(gFormat.format(28), gAbsIncModal.format(91), "Z" + xyzFormat.format(0)); // retract Z
    writeBlock(gFormat.format(28), gAbsIncModal.format(91), "Y" + xyzFormat.format(0)); // retract Y
    writeBlock(mFormat.format(0));
    forceSpindleSpeed = true;
    return;
  case COMMAND_START_SPINDLE:
    onCommand(tool.clockwise ? COMMAND_SPINDLE_CLOCKWISE : COMMAND_SPINDLE_COUNTERCLOCKWISE);
    return;
  case COMMAND_LOCK_MULTI_AXIS:
    return;
  case COMMAND_UNLOCK_MULTI_AXIS:
    return;
  case COMMAND_START_CHIP_TRANSPORT:
    return;
  case COMMAND_STOP_CHIP_TRANSPORT:
    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() {
  writeBlock(gPlaneModal.format(17));

  if (((getCurrentSectionId() + 1) >= getNumberOfSections()) ||
      (tool.number != getNextSection().getTool().number)) {
    onCommand(COMMAND_BREAK_CONTROL);
  }

  if (true) {
    if (isRedirecting()) {
      if (firstPattern) {
        var finalPosition = getFramePosition(currentSection.getFinalPosition());
        var abc;
        if (currentSection.isMultiAxis() && machineConfiguration.isMultiAxisConfiguration()) {
          abc = currentSection.getFinalToolAxisABC();
        } else {
          abc = currentWorkPlaneABC;
        }
        if (abc == undefined) {
          abc = new Vector(0, 0, 0);
        }
        setAbsoluteMode(finalPosition, abc);
        subprogramEnd();
      }
    }
  }
  forceAny();
}

function onClose() {
  writeln("");
  optionalSection = false;

  onCommand(COMMAND_COOLANT_OFF);

  writeBlock(gFormat.format(28), gAbsIncModal.format(91), "Z" + xyzFormat.format(0)); // retract
  retracted = true;
  
  disableLengthCompensation(true);
  setSmoothing(false);
  zOutput.reset();

  setWorkPlane(new Vector(0, 0, 0)); // reset working plane

  if (properties.useG54x4) {
    writeBlock(gFormat.format(54.4), "P0");
  }

  if (!machineConfiguration.hasHomePositionX() && !machineConfiguration.hasHomePositionY()) {
    // 90/91 mode is don't care
    writeBlock(gFormat.format(28), gAbsIncModal.format(91), "Y" + xyzFormat.format(0)); // return to Y home
  } else {
    var homeX;
    if (machineConfiguration.hasHomePositionX()) {
      homeX = "X" + xyzFormat.format(machineConfiguration.getHomePositionX());
    }
    var homeY;
    if (machineConfiguration.hasHomePositionY()) {
      homeY = "Y" + xyzFormat.format(machineConfiguration.getHomePositionY());
    }
    if (homeX == "X0." && homeY == "Y0."){
      writeBlock(gFormat.format(28), gAbsIncModal.format(91), "Y" + xyzFormat.format(0)); // return to Y home
    }
    else {
    writeBlock(gAbsIncModal.format(90), gFormat.format(53), gMotionModal.format(0), homeX, homeY);
  }}

  onImpliedCommand(COMMAND_END);
  onImpliedCommand(COMMAND_STOP_SPINDLE);
  writeBlock(mFormat.format(30)); // stop program, spindle stop, coolant off
  if (subprograms.length > 0) {
    writeln("");
    write(subprograms);
  }
  writeln("%");
}