Program Reference: Motion and Modal Commands

Motion Packets

Status:

• Implemented for the motion subset

Rules:

• packetization consumes AIL and emits packets for G0/G1/G2/G3/G4
• packet_id is 1-based and deterministic per result order
• non-motion AIL instructions are skipped with warning diagnostics where appropriate
• G0 and G1 both use packet type linear_move; distinguish intent through packet.modal.code

Output fields:

• packet_id
• type
• source
• modal
• payload

Packet types:

• linear_move
• arc_move
• dwell

G1

Syntax examples:

• G1 X10 Y20 Z30 F100
• G1 AP=90 RP=10 F40

Rules:

• case-insensitive words are accepted
• mixing Cartesian and polar words in one G1 line is rejected

Output fields:

• source: filename, line, line_number
• modal: group=GGroup1, code=G1, updates_state=true
• target_pose: optional x/y/z/a/b/c
• feed: optional F

Execution call sequence:

1. a complete G1 line is assembled
2. the line is parsed and lowered into a normalized linear-move command
3. the execution sink receives the normalized command
4. the runtime receives the same command via linear-move submission
5. the runtime returns ready, pending, or error
6. pending blocks execution until explicit resume

G0

Syntax examples:

• G0 X10 Y20 Z30
• G0 AP=90 RP=10

Rules:

• case-insensitive words are accepted
• mixing Cartesian and polar words in one G0 line is rejected

Output fields:

• source: filename, line, line_number
• modal: group=GGroup1, code=G0, updates_state=true
• target_pose: optional x/y/z/a/b/c
• feed: optional F

Current limitations:

• Siemens rapid interpolation override behavior is not fully implemented in the runtime or packet path

RTLION / RTLIOF

Syntax examples:

• RTLION
• RTLIOF

Current behavior:

• lowering emits AIL rapid_mode
• JSON includes:
  • opcode
  • mode
• following G0 AIL instructions include rapid_mode_effective when a rapid-mode command is active earlier in program order

Current limitations:

• runtime execution tracks rapid-mode state transitions, but full machine interpolation override behavior is not implemented yet
• packetization does not emit standalone packets for rapid_mode

G40 / G41 / G42

Syntax examples:

• G40
• G41
• G42

Current behavior:

• lowering emits AIL tool_radius_comp
• JSON includes:
  • opcode
  • mode: off, left, right
• AilExecutor tracks tool_radius_comp_current

Current limitations:

• cutter-path geometric compensation is not implemented in v0
• packetization does not emit standalone packets for tool_radius_comp

G17 / G18 / G19

Syntax examples:

• G17
• G18
• G19

Current behavior:

• lowering emits AIL working_plane
• JSON includes:
  • opcode
  • plane: xy, zx, yz
• AilExecutor tracks working_plane_current
• G2/G3 lowering validates center words against the effective plane

Current limitations:

• deeper plane-dependent geometric behavior is not implemented in v0
• packetization does not emit standalone packets for working_plane

G2 / G3

Syntax examples:

• G2 X10 Y20 I1 J2 K3 R40 F100
• G3 X30 Y40 I4 J5 K6 CR=50 F200

Output fields:

• source: filename, line, line_number
• modal: group=GGroup1, code=G2|G3, updates_state=true
• target_pose: optional x/y/z/a/b/c
• arc: optional i/j/k/r
• feed: optional F
• effective plane metadata derived from the active working plane

G4

Syntax examples:

• G4 F3
• G4 S30

Rules:

• must be programmed in its own NC block
• exactly one of F or S must be present

Output fields:

• source: filename, line, line_number
• modal: group=GGroup2, code=G4, updates_state=false
• dwell_mode: seconds or revolutions
• dwell_value: numeric value