Keyboard shortcuts

Press ← or → to navigate between chapters

Press S or / to search in the book

Press ? to show this help

Press Esc to hide this help

Design: Exact-Stop and Continuous-Path Modes (Groups 10/11/12)

Task: T-044 (architecture/design)

Goal

Define Siemens-compatible architecture for transition control modes:

  • Group 10: exact-stop vs continuous-path (G60, G64..G645)
  • Group 11: non-modal exact-stop (G9)
  • Group 12: exact-stop block-change criteria (G601/G602/G603)
  • G641 coupling with ADIS / ADISPOS

This design maps PRD Section 5.10.

Scope

  • modal/non-modal state model and precedence rules
  • criterion applicability rules for Group 12 under exact-stop
  • representation and semantics of ADIS/ADISPOS with G641
  • interaction points with feed and motion execution layers
  • output schema expectations for transition mode metadata

Out of scope:

  • servo control-law internals and real controller lookahead implementation
  • machine-vendor trajectory kernel details

Pipeline Boundaries

flowchart LR
  A[G60/G64..G645/G9/G601..G603/ADIS/ADISPOS] --> B[Parser + Semantic]
  B --> C[Modal Engine]
  C --> D[AIL Lowering]
  D --> E[AilExecutor]

  P[MachineProfile + TransitionPolicy] --> C
  P --> E
  • Parser/semantic:
    • parses mode words and validates value forms
  • Modal engine:
    • resolves active Group 10 mode, Group 11 block-scope flag, Group 12 criterion
    • validates cross-group applicability
  • AIL/executor:
    • carries transition-state metadata and applies runtime behavior boundaries

Group State Model

Group 10 (modal):

  • G60 exact-stop mode
  • G64, G641, G642, G643, G644, G645 continuous-path family

Group 11 (non-modal):

  • G9 exact-stop for current block only

Group 12 (modal criterion):

  • G601 exact-stop fine
  • G602 exact-stop coarse
  • G603 IPO end

Auxiliary parameters:

  • ADIS=<value> (path transitions, usually G1/G2/G3 path moves with G641)
  • ADISPOS=<value> (positioning/rapid transitions, G0 with G641)
stateDiagram-v2
  [*] --> CP_G64
  CP_G64 --> ES_G60: G60
  ES_G60 --> CP_G64: G64
  CP_G64 --> CP_G641: G641
  CP_G641 --> CP_G642: G642
  CP_G642 --> CP_G643: G643
  CP_G643 --> CP_G644: G644
  CP_G644 --> CP_G645: G645
  CP_G645 --> ES_G60: G60

Precedence and Applicability Rules

  1. Group 11 (G9) is block-local and has highest effect for that block.
  2. Otherwise Group 10 modal state defines transition behavior.
  3. Group 12 criterion is meaningful only when effective exact-stop is active (G60 modal or G9 current block).
  4. Under continuous-path effective mode, Group 12 is retained as modal state but not applied for block-change timing decisions.

Applicability matrix:

  • G60 + (G601|G602|G603) => criterion applied
  • G9 + (G601|G602|G603) => criterion applied in current block
  • G64..G645 + (G601|G602|G603) => criterion inactive (stored, not used)

G641 + ADIS/ADISPOS Coupling

Rules:

  • ADIS and ADISPOS are only behavior-relevant when effective Group 10 mode is G641.
  • if omitted, default value is 0 (profile default may override)
  • ADIS targets path transitions; ADISPOS targets positioning (G0) moves

Validation:

  • negative values are invalid
  • parser reports clear diagnostics for malformed assignments
flowchart TD
  G[G641 active?] -->|no| I[ignore ADIS/ADISPOS behavior; retain values]
  G -->|yes| A[apply ADIS to path transitions]
  G -->|yes| B[apply ADISPOS to rapid transitions]

Runtime Boundary and Output Semantics

AIL transition instruction concept:

{
  "kind": "transition_mode",
  "group10_mode": "g641",
  "group11_block_exact_stop": false,
  "group12_criterion": "g602",
  "adis": 0.5,
  "adispos": 0.0,
  "source": {"line": 30}
}

Runtime effective-state concept per executed block:

{
  "effective_transition_mode": "exact_stop",
  "effective_source": "group11_g9",
  "effective_criterion": "g601",
  "smoothing_mode": "none"
}

Notes:

  • packet/motion outputs should carry effective transition metadata as needed by downstream planner, without embedding full servo behavior.

Interaction Points

  • Feed model (Group 15):
    • effective transition mode may reduce/shape path velocity at boundaries
  • Rapid traverse model (T-045):
    • Group 10 state can constrain effective rapid interpolation behavior
  • Compensation/transform states:
    • can affect whether smoothing/transition elements are allowed

Machine Profile / Policy Hooks

Suggested profile fields:

  • default_group10_mode (e.g., g64)
  • default_group12_criterion (e.g., g602)
  • adis_default, adispos_default
  • supports_g644_with_transform (bool; false -> policy fallback to g642)

Policy interface sketch:

struct TransitionPolicy {
  virtual EffectiveTransition resolve(const ModalState& modal,
                                      const BlockContext& block,
                                      const RuntimeContext& ctx,
                                      const MachineProfile& profile) const = 0;
};

Implementation Slices (follow-up)

  1. Modal registry/state completion
  • ensure Groups 10/11/12 are fully represented with scope semantics
  1. Parser/semantic validation
  • robust parsing and validation for ADIS/ADISPOS
  • criterion applicability diagnostics/policy notes
  1. AIL/runtime effective state
  • emit and consume transition metadata for each block
  • implement Group 11 block-scope override behavior
  1. Integration coupling
  • connect transition state to rapid/feed behaviors via policy boundaries

Test Matrix (implementation PRs)

  • parser tests:
    • syntax/validation for Group 10/11/12 and ADIS/ADISPOS
  • modal-engine tests:
    • block-local G9 override behavior
    • Group 12 applicability under exact-stop only
  • AIL/executor tests:
    • effective mode resolution per block
    • criterion and smoothing metadata stability
  • docs/spec sync:
    • update SPEC/program reference as each slice lands

Traceability

  • PRD: Section 5.10 (exact-stop and continuous-path modes)
  • Backlog: T-044
  • Coupled tasks: T-045 (rapid traverse), T-041 (feed model)