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App/wwwroot/HiAPI-docsite/api/Hi.NcParsers.LogicSyntaxs.G53p1RotaryPositionSyntax.html

@@ -195,17 +195,44 @@ Motion is handled by <a class="xref" href="Hi.NcParsers.LogicSyntaxs.LinearMotio
 
 
   <h2 id="Hi_NcParsers_LogicSyntaxs_G53p1RotaryPositionSyntax_examples">Examples</h2>
-  <p>No-kinematics dep-guard early-return: standalone <code>G53.1</code> with
+  <p>Real-kinematics cases below wire <code>TestDeps.CodeKinematics</code>
+with the default chain code <code>[O][Z][A][w];[O][Y][X][B][S][t]</code>
+— a <b>table-A / head-B 5-axis</b> machine. A pivots around -X
+through origin (table side); B pivots around +Y through origin
+(head side). Both pivot axes pass through <code>(0,0,0)</code> because
+<a class="xref" href="Hi.Numerical.Xyzabc.CodeXyzabcChain.html">CodeXyzabcChain</a> uses zero-offset
+component attachments — the head-B origin pivot is a pedagogical
+simplification (real table-head machines have a spindle pivot
+offset). The <code>TestDeps.AxisConfig((&ldquo;A&rdquo;, Rotary), (&ldquo;B&rdquo;, Rotary))</code>
+dep supplies the <a class="xref" href="Hi.NcParsers.Dependencys.IMachineAxisConfig.html">IMachineAxisConfig</a> that the syntax
+queries for the rotary axis list; the <code>rotaryAxes</code> loop
+therefore writes exactly the A and B columns of
+<code>MachineCoordinateState</code>. There is no C axis on this
+machine (5-axis machines have at most two rotary axes).</p>
+<p>
+Verification cue: IK converts the active tilt's
+<code>AxialNormal</code> back to rotary degrees. For an IJK=(0,30°,0)
+tilt the solver picks an A angle close to 30° (drift from
+chain-axis-pivot offsets shows up as A≈29.94° in case 1) and
+leaves B at 0°.
+</p>
+<p>
+No-kinematics dep-guard early-return: standalone <code>G53.1</code> with
 no <a class="xref" href="Hi.Numerical.Xyzabc.IMachineKinematics.html">IMachineKinematics</a> dep in the list — the syntax
-detects the flag, finds no kinematics, and silently consumes the
-flag via <code>ConsumeFlag</code>. Empty <code>Parsing</code> is then removed
-by <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.text.json.nodes.jsonobject">CleanupParsing(JsonObject)</a>, so the post-Build block
-is empty:
-#BeforeBuild:</p>
+emits validation error <code>Coord-MachCoord--005</code> (G53.1 on a
+machine without rotary IK is an unexpected combination —
+typically a 5-axis NC file run against a 3-axis machine config,
+or a missing dep wire-up) and then consumes the flag via
+<code>ConsumeFlag</code>. Empty <code>Parsing</code> is then removed by
+<a class="xref" href="https://learn.microsoft.com/dotnet/api/system.text.json.nodes.jsonobject">CleanupParsing(JsonObject)</a>, so the post-Build block
+JSON is empty even though the diagnostic message was sent (the
+conformance check verifies only the JSON shape):
+</p>
+#BeforeBuild:
 <pre><code class="lang-csharp">{ "Parsing": { "Flags": ["G53.1"] } }</code></pre>
-<p>#AfterBuild:</p>
+#AfterBuild:
 <pre><code class="lang-csharp">{}</code></pre>
-<p>IK happy path — <code>G53.1</code> with active G68.2 tilt on
+IK happy path — <code>G53.1</code> with active G68.2 tilt on
 <code>#Previous:</code>, real <a class="xref" href="Hi.Numerical.Xyzabc.XyzabcSolver.html">XyzabcSolver</a>
 (table-A / head-B 5-axis), and a
 <code>TestDeps.AxisConfig(A=Rotary, B=Rotary)</code> dep. The syntax
@@ -213,8 +240,14 @@ reads the previous block's tilt Mat4d, solves
 <code>OrientationToMcAbc(tiltMat.AxialNormal)</code> for the rotary ABC,
 converts radians → degrees, writes <code>MachineCoordinateState</code>
 with both rotary axes (XYZ inherited from <code>prevMc = Vec3d.Zero</code>
-when no previous MC exists), and stamps <code>ProgramXyz</code>:
-#Previous:</p>
+when no previous MC exists), and stamps <code>ProgramXyz</code>. The
+block also gets a non-modal <a class="xref" href="Hi.NcParsers.Keywords.MotionEvent.html">MotionEvent</a> with
+<code>Term: "G53.1"</code> so the source G-code survives in JSON for
+bidirectional reconstruction (per the precedence rule on
+<a class="xref" href="Hi.NcParsers.Keywords.IMotionEventDef.html#Hi_NcParsers_Keywords_IMotionEventDef_Term">Term</a>: when set, this is the
+block's actual motion source; the modal <a class="xref" href="Hi.NcParsers.Keywords.MotionState.html">MotionState</a>
+remains as inherited context):
+#Previous:
 <pre><code class="lang-csharp">{
   "TiltTransform": { "Term": "G68.2", "X": 0, "Y": 0, "Z": 0, "I": 0, "J": 30, "K": 0 },
   "ProgramToMcTransform": [
@@ -230,20 +263,21 @@ when no previous MC exists), and stamps <code>ProgramXyz</code>:
     }
   ]
 }</code></pre>
-<p>#BeforeBuild:</p>
+#BeforeBuild:
 <pre><code class="lang-csharp">{ "Parsing": { "Flags": ["G53.1"] } }</code></pre>
-<p>#AfterBuild:</p>
+#AfterBuild:
 <pre><code class="lang-csharp">{
-  "MachineCoordinateState": { "X": 0, "Y": 0, "Z": 0, "A": 29.942194198514308, "B": 0 },
-  "ProgramXyz": { "X": 0, "Y": 0, "Z": 0 }
+  "MachineCoordinateState": { "X": 0, "Y": 0, "Z": 0, "A": 29.99999937094331, "B": 0 },
+  "ProgramXyz": { "X": 0, "Y": 0, "Z": 0 },
+  "MotionEvent": { "Form": "McLinear", "IsRapid": true, "Term": "G53.1" }
 }</code></pre>
-<p>Explicit ABC override — <code>G53.1 A0 B45</code> on top of the same
+Explicit ABC override — <code>G53.1 A0 B45</code> on top of the same
 G68.2 tilt + kinematics + axis-config set up. The IK still solves,
 but the explicit <code>A=0</code> and <code>B=45</code> overrides what IK
 returned for those axes; C stays at the IK-solved value (C-axis
 is not present in the table-A/head-B layout, so the rotaryAxes
 loop only writes A and B):
-#Previous:</p>
+#Previous:
 <pre><code class="lang-csharp">{
   "TiltTransform": { "Term": "G68.2", "X": 0, "Y": 0, "Z": 0, "I": 0, "J": 30, "K": 0 },
   "ProgramToMcTransform": [
@@ -259,14 +293,15 @@ loop only writes A and B):
     }
   ]
 }</code></pre>
-<p>#BeforeBuild:</p>
+#BeforeBuild:
 <pre><code class="lang-csharp">{
   "Parsing": { "Flags": ["G53.1"], "A": 0, "B": 45 }
 }</code></pre>
-<p>#AfterBuild:</p>
+#AfterBuild:
 <pre><code class="lang-csharp">{
   "MachineCoordinateState": { "X": 0, "Y": 0, "Z": 0, "A": 0, "B": 45 },
-  "ProgramXyz": { "X": 0, "Y": 0, "Z": 0 }
+  "ProgramXyz": { "X": 0, "Y": 0, "Z": 0 },
+  "MotionEvent": { "Form": "McLinear", "IsRapid": true, "Term": "G53.1" }
 }</code></pre>