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<title>Class G43p4RtcpSyntax | HiAPI-C# 2025 </title>
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<meta name="description" content="Handles G43.4 RTCP (Rotary Tool Center Point) activation. Writes the section and the entry in — a tool-normal &#183; offset_mm translation at the block endpoint ABC. The chain entry is tagged when RTCP is active and ABC changes across the block, and otherwise. The RTCP kinematic rotary part (Pn→MC rigid transform) is orthogonal to this syntax and is written by on every block, because rotary state remains in effect beyond the RTCP modal (e.g. a non-RTCP G01 after G49 still inherits the last ABC from the program). The &quot;rotary dynamic&quot; distinction lives on the chain entry&#39;s alone and is read via by to pick vs . G43.4 is used by Fanuc, Mazak, Syntec, and Okuma. Siemens (TRAORI) and Heidenhain (M128) are handled by separate syntaxes. Must be placed after (to override the ToolHeightCompensation entry when RTCP is active) and before (which runs last in the chain).">
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<article data-uid="Hi.NcParsers.LogicSyntaxs.G43p4RtcpSyntax">
<h1 id="Hi_NcParsers_LogicSyntaxs_G43p4RtcpSyntax" data-uid="Hi.NcParsers.LogicSyntaxs.G43p4RtcpSyntax" class="text-break">
Class G43p4RtcpSyntax
</h1>
<div class="facts text-secondary">
<dl><dt>Namespace</dt><dd><a class="xref" href="Hi.html">Hi</a>.<a class="xref" href="Hi.NcParsers.html">NcParsers</a>.<a class="xref" href="Hi.NcParsers.LogicSyntaxs.html">LogicSyntaxs</a></dd></dl>
<dl><dt>Assembly</dt><dd>HiMech.dll</dd></dl>
</div>
<div class="markdown summary"><p>Handles G43.4 RTCP (Rotary Tool Center Point) activation. Writes
the <a class="xref" href="Hi.NcParsers.Keywords.IToolHeightCompensationDef.html">IToolHeightCompensationDef</a> section and the
<a class="xref" href="Hi.NcParsers.Syntaxs.TransformationUtil.html#Hi_NcParsers_Syntaxs_TransformationUtil_ToolHeightCompensationSource">ToolHeightCompensationSource</a> entry
in <a class="xref" href="Hi.NcParsers.Keywords.ITransformationDef.html#Hi_NcParsers_Keywords_ITransformationDef_ProgramToMcTransform">ProgramToMcTransform</a> — a
tool-normal · offset_mm translation at the block endpoint ABC. The
chain entry is tagged <a class="xref" href="Hi.NcParsers.Syntaxs.TransformationUtil.html#Hi_NcParsers_Syntaxs_TransformationUtil_KindDynamic">KindDynamic</a>
when RTCP is active and ABC changes across the block, and
<a class="xref" href="Hi.NcParsers.Syntaxs.TransformationUtil.html#Hi_NcParsers_Syntaxs_TransformationUtil_KindStatic">KindStatic</a> otherwise.</p>
<p>
The RTCP kinematic rotary part (Pn→MC rigid transform) is orthogonal
to this syntax and is written by <a class="xref" href="Hi.NcParsers.LogicSyntaxs.PivotTransformationSyntax.html">PivotTransformationSyntax</a>
on <b>every</b> block, because rotary state remains in effect beyond
the RTCP modal (e.g. a non-RTCP <code>G01</code> after <code>G49</code> still
inherits the last ABC from the program).
</p>
<p>
The "rotary dynamic" distinction lives on the chain entry's
<a class="xref" href="Hi.NcParsers.Syntaxs.TransformationUtil.html#Hi_NcParsers_Syntaxs_TransformationUtil_KindKey">KindKey</a> alone and is read via
<a class="xref" href="Hi.NcParsers.Syntaxs.TransformationUtil.html#Hi_NcParsers_Syntaxs_TransformationUtil_HasDynamicEntry_System_Text_Json_Nodes_JsonObject_">HasDynamicEntry(JsonObject)</a> by
<a class="xref" href="Hi.NcParsers.LogicSyntaxs.LinearMotionSyntax.html">LinearMotionSyntax</a> to pick
<a class="xref" href="Hi.NcParsers.Keywords.Generic.MotionForm.html#Hi_NcParsers_Keywords_Generic_MotionForm_ClLinear">ClLinear</a> vs <a class="xref" href="Hi.NcParsers.Keywords.Generic.MotionForm.html#Hi_NcParsers_Keywords_Generic_MotionForm_McLinear">McLinear</a>.
</p>
<p>
G43.4 is used by Fanuc, Mazak, Syntec, and Okuma. Siemens (TRAORI) and
Heidenhain (M128) are handled by separate syntaxes. Must be placed
<b>after</b> <a class="xref" href="Hi.NcParsers.LogicSyntaxs.ToolHeightOffsetSyntax.html">ToolHeightOffsetSyntax</a> (to override the
ToolHeightCompensation entry when RTCP is active) and <b>before</b>
<a class="xref" href="Hi.NcParsers.LogicSyntaxs.PivotTransformationSyntax.html">PivotTransformationSyntax</a> (which runs last in the chain).
</p>
</div>
<div class="markdown conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public class G43p4RtcpSyntax : ISituNcSyntax, INcSyntax, IMakeXmlSource</code></pre>
</div>
<dl class="typelist inheritance">
<dt>Inheritance</dt>
<dd>
<div><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object">object</a></div>
<div><span class="xref">G43p4RtcpSyntax</span></div>
</dd>
</dl>
<dl class="typelist implements">
<dt>Implements</dt>
<dd>
<div><a class="xref" href="Hi.NcParsers.Syntaxs.ISituNcSyntax.html">ISituNcSyntax</a></div>
<div><a class="xref" href="Hi.NcParsers.Syntaxs.INcSyntax.html">INcSyntax</a></div>
<div><a class="xref" href="Hi.Common.XmlUtils.IMakeXmlSource.html">IMakeXmlSource</a></div>
</dd>
</dl>
<dl class="typelist inheritedMembers">
<dt>Inherited Members</dt>
<dd>
<div>
<a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.equals#system-object-equals(system-object)">object.Equals(object)</a>
</div>
<div>
<a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.equals#system-object-equals(system-object-system-object)">object.Equals(object, object)</a>
</div>
<div>
<a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.gethashcode">object.GetHashCode()</a>
</div>
<div>
<a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.gettype">object.GetType()</a>
</div>
<div>
<a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.memberwiseclone">object.MemberwiseClone()</a>
</div>
<div>
<a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.referenceequals">object.ReferenceEquals(object, object)</a>
</div>
<div>
<a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.tostring">object.ToString()</a>
</div>
</dd></dl>
<dl class="typelist extensionMethods">
<dt>Extension Methods</dt>
<dd>
<div>
<a class="xref" href="Hi.Common.DuplicateUtil.html#Hi_Common_DuplicateUtil_TryDuplicate__1___0_System_Object___">DuplicateUtil.TryDuplicate&lt;TSelf&gt;(TSelf, params object[])</a>
</div>
<div>
<a class="xref" href="Hi.Common.InvokeUtil.html#Hi_Common_InvokeUtil_SelfInvoke__1___0_System_Action___0__">InvokeUtil.SelfInvoke&lt;TSrc&gt;(TSrc, Action&lt;TSrc&gt;)</a>
</div>
<div>
<a class="xref" href="Hi.Common.InvokeUtil.html#Hi_Common_InvokeUtil_SelfInvoke__2___0_System_Func___0___1__">InvokeUtil.SelfInvoke&lt;TSrc, TDst&gt;(TSrc, Func&lt;TSrc, TDst&gt;)</a>
</div>
<div>
<a class="xref" href="Hi.Coloring.ColorUtil.html#Hi_Coloring_ColorUtil_GetGloomyColor_System_Object_System_Double_System_Double_">ColorUtil.GetGloomyColor(object, double, double)</a>
</div>
<div>
<a class="xref" href="Hi.Common.NameUtil.html#Hi_Common_NameUtil_GetSelectionName_System_Object_">NameUtil.GetSelectionName(object)</a>
</div>
<div>
<a class="xref" href="Hi.Common.StringUtil.html#Hi_Common_StringUtil_GetPropertyStringIfToStringNotOverloaded_System_Object_System_Boolean_System_Boolean_">StringUtil.GetPropertyStringIfToStringNotOverloaded(object, bool, bool)</a>
</div>
<div>
<a class="xref" href="Hi.Parallels.LockUtil.html#Hi_Parallels_LockUtil_Lock_System_Object_">LockUtil.Lock(object)</a>
</div>
</dd></dl>
<h2 id="Hi_NcParsers_LogicSyntaxs_G43p4RtcpSyntax_examples">Examples</h2>
<p>Explicit G43.4 H1 activation with no <a class="xref" href="Hi.Numerical.Xyzabc.IMachineKinematics.html">IMachineKinematics</a>
and no <a class="xref" href="Hi.NcParsers.Dependencys.IToolOffsetConfig.html">IToolOffsetConfig</a> in the dependency list —
exercises the activate path on its identity-matrix corner. The
section is written with <code>Offset_mm = 0</code> (no offset table
→ <code>rawHeight = 0</code>); the height-mat falls back to the
no-kinematics branch <code>new Mat4d { Trans = UnitZ * 0 }</code> which
collapses to identity; <code>abcChanged</code> is false (no current MC,
no previous block) so the entry is tagged <a class="xref" href="Hi.NcParsers.Syntaxs.TransformationUtil.html#Hi_NcParsers_Syntaxs_TransformationUtil_KindStatic">KindStatic</a>.
#BeforeBuild:</p>
<pre><code class="lang-csharp">{ "Parsing": { "G43.4": { "H": "1" } } }</code></pre>
<p>#AfterBuild:</p>
<pre><code class="lang-csharp">{
"ToolHeightCompensation": { "Offset_mm": 0, "Term": "G43.4", "OffsetId": 1 },
"ProgramToMcTransform": [
{
"Source": "ToolHeightCompensation",
"Kind": "Static",
"Mat4d": [1,0,0,0, 0,1,0,0, 0,0,1,0, 0,0,0,1]
}
]
}</code></pre>
<p>G43.4 H1 with <code>ToolOffset(1 → 10 mm)</code>, a real
<a class="xref" href="Hi.Numerical.Xyzabc.XyzabcSolver.html">XyzabcSolver</a> (table-A / head-B
5-axis), and current block already carrying all three rotary axes
in <code>MachineCoordinateState</code> (A=0, B=30, C=0 — as a prior
<code>McAbcSyntax</code> in the chain would have written). The
height-mat goes through
<a class="xref" href="Hi.NcParsers.Syntaxs.TransformationUtil.html#Hi_NcParsers_Syntaxs_TransformationUtil_MakeToolHeightMat_Hi_Numerical_Xyzabc_IMachineKinematics_Hi_Geom_Vec3d_System_Double_">MakeToolHeightMat(IMachineKinematics, Vec3d, double)</a> which probes
<code>kinematics.McToPn(Zero, abc).Normal</code> at <code>abc = (0, π/6, 0)</code>
to get the tool orientation, then scales by 10 mm. With no
previous block, <code>abcChanged</code> is false → entry stays Static.
Note: all three ABC must be present (or fall back to the per-axis
modal lookback path); a partial section with only B set leaves A/C
as NaN and the resulting Mat4d.Trans would serialise as
non-finite numbers.
#BeforeBuild:</p>
<pre><code class="lang-csharp">{
"Parsing": { "G43.4": { "H": "1" } },
"MachineCoordinateState": { "A": 0, "B": 30, "C": 0 }
}</code></pre>
<p>#AfterBuild:</p>
<pre><code class="lang-csharp">{
"MachineCoordinateState": { "A": 0, "B": 30, "C": 0 },
"ToolHeightCompensation": { "Offset_mm": 10, "Term": "G43.4", "OffsetId": 1 },
"ProgramToMcTransform": [
{
"Source": "ToolHeightCompensation",
"Kind": "Static",
"Mat4d": [
1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 1, 0,
4.999999999999999, 0, 8.660254037844387, 1
]
}
]
}</code></pre>
<p>Same setup plus a <code>#Previous:</code> block with
<code>MachineCoordinateState.B = 0</code> + XYZ origin —
<a class="xref" href="Hi.NcParsers.Syntaxs.SyntaxPiece.html">DidAbcChange(LazyLinkedListNode&lt;SyntaxPiece&gt;, IMachineAxisConfig)</a> compares the rotary deltas and finds B
changed across the block, so the entry is tagged
<a class="xref" href="Hi.NcParsers.Syntaxs.TransformationUtil.html#Hi_NcParsers_Syntaxs_TransformationUtil_KindDynamic">KindDynamic</a> (signalling that the
tool orientation varies along the contour):
#Previous:</p>
<pre><code class="lang-csharp">{
"MachineCoordinateState": { "X": 0, "Y": 0, "Z": 0, "A": 0, "B": 0, "C": 0 }
}</code></pre>
<p>#BeforeBuild:</p>
<pre><code class="lang-csharp">{
"Parsing": { "G43.4": { "H": "1" } },
"MachineCoordinateState": { "A": 0, "B": 30, "C": 0 }
}</code></pre>
<p>#AfterBuild:</p>
<pre><code class="lang-csharp">{
"MachineCoordinateState": { "A": 0, "B": 30, "C": 0 },
"ToolHeightCompensation": { "Offset_mm": 10, "Term": "G43.4", "OffsetId": 1 },
"ProgramToMcTransform": [
{
"Source": "ToolHeightCompensation",
"Kind": "Dynamic",
"Mat4d": [
1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 1, 0,
4.999999999999999, 0, 8.660254037844387, 1
]
}
]
}</code></pre>
<h2 class="section" id="constructors">Constructors
</h2>
<a id="Hi_NcParsers_LogicSyntaxs_G43p4RtcpSyntax__ctor_" data-uid="Hi.NcParsers.LogicSyntaxs.G43p4RtcpSyntax.#ctor*"></a>
<h3 id="Hi_NcParsers_LogicSyntaxs_G43p4RtcpSyntax__ctor" data-uid="Hi.NcParsers.LogicSyntaxs.G43p4RtcpSyntax.#ctor">
G43p4RtcpSyntax()
</h3>
<div class="markdown level1 summary"><p>Initializes a new instance with default settings.</p>
</div>
<div class="markdown level1 conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public G43p4RtcpSyntax()</code></pre>
</div>
<a id="Hi_NcParsers_LogicSyntaxs_G43p4RtcpSyntax__ctor_" data-uid="Hi.NcParsers.LogicSyntaxs.G43p4RtcpSyntax.#ctor*"></a>
<h3 id="Hi_NcParsers_LogicSyntaxs_G43p4RtcpSyntax__ctor_System_Xml_Linq_XElement_" data-uid="Hi.NcParsers.LogicSyntaxs.G43p4RtcpSyntax.#ctor(System.Xml.Linq.XElement)">
G43p4RtcpSyntax(XElement)
</h3>
<div class="markdown level1 summary"><p>Initializes a new instance by deserializing from the given XML element.</p>
</div>
<div class="markdown level1 conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public G43p4RtcpSyntax(XElement src)</code></pre>
</div>
<h4 class="section">Parameters</h4>
<dl class="parameters">
<dt><code>src</code> <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.xml.linq.xelement">XElement</a></dt>
<dd><p>Source XML element.</p>
</dd>
</dl>
<h2 class="section" id="properties">Properties
</h2>
<a id="Hi_NcParsers_LogicSyntaxs_G43p4RtcpSyntax_Name_" data-uid="Hi.NcParsers.LogicSyntaxs.G43p4RtcpSyntax.Name*"></a>
<h3 id="Hi_NcParsers_LogicSyntaxs_G43p4RtcpSyntax_Name" data-uid="Hi.NcParsers.LogicSyntaxs.G43p4RtcpSyntax.Name">
Name
</h3>
<div class="markdown level1 summary"><p>Syntax kind name (typically the concrete type name).</p>
</div>
<div class="markdown level1 conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public string Name { get; }</code></pre>
</div>
<h4 class="section">Property Value</h4>
<dl class="parameters">
<dt><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.string">string</a></dt>
<dd></dd>
</dl>
<a id="Hi_NcParsers_LogicSyntaxs_G43p4RtcpSyntax_XName_" data-uid="Hi.NcParsers.LogicSyntaxs.G43p4RtcpSyntax.XName*"></a>
<h3 id="Hi_NcParsers_LogicSyntaxs_G43p4RtcpSyntax_XName" data-uid="Hi.NcParsers.LogicSyntaxs.G43p4RtcpSyntax.XName">
XName
</h3>
<div class="markdown level1 summary"><p>XML element name used to register this syntax with <a class="xref" href="Hi.Common.XmlUtils.XFactory.html">XFactory</a>.</p>
</div>
<div class="markdown level1 conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public static string XName { get; }</code></pre>
</div>
<h4 class="section">Property Value</h4>
<dl class="parameters">
<dt><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.string">string</a></dt>
<dd></dd>
</dl>
<h2 class="section" id="methods">Methods
</h2>
<a id="Hi_NcParsers_LogicSyntaxs_G43p4RtcpSyntax_Build_" data-uid="Hi.NcParsers.LogicSyntaxs.G43p4RtcpSyntax.Build*"></a>
<h3 id="Hi_NcParsers_LogicSyntaxs_G43p4RtcpSyntax_Build_Hi_Common_Collections_LazyLinkedListNode_Hi_NcParsers_Syntaxs_SyntaxPiece__System_Collections_Generic_List_Hi_NcParsers_Dependencys_INcDependency__Hi_NcParsers_NcDiagnosticProgress_" data-uid="Hi.NcParsers.LogicSyntaxs.G43p4RtcpSyntax.Build(Hi.Common.Collections.LazyLinkedListNode{Hi.NcParsers.Syntaxs.SyntaxPiece},System.Collections.Generic.List{Hi.NcParsers.Dependencys.INcDependency},Hi.NcParsers.NcDiagnosticProgress)">
Build(LazyLinkedListNode&lt;SyntaxPiece&gt;, List&lt;INcDependency&gt;, NcDiagnosticProgress)
</h3>
<div class="markdown level1 summary"><p>Build syntax arrangement into the
<code class="paramref">syntaxPieceNode</code> in-place.</p>
</div>
<div class="markdown level1 conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public void Build(LazyLinkedListNode&lt;SyntaxPiece&gt; syntaxPieceNode, List&lt;INcDependency&gt; ncDependencyList, NcDiagnosticProgress ncDiagnosticProgress)</code></pre>
</div>
<h4 class="section">Parameters</h4>
<dl class="parameters">
<dt><code>syntaxPieceNode</code> <a class="xref" href="Hi.Common.Collections.LazyLinkedListNode-1.html">LazyLinkedListNode</a>&lt;<a class="xref" href="Hi.NcParsers.Syntaxs.SyntaxPiece.html">SyntaxPiece</a>&gt;</dt>
<dd></dd>
<dt><code>ncDependencyList</code> <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.collections.generic.list-1">List</a>&lt;<a class="xref" href="Hi.NcParsers.Dependencys.INcDependency.html">INcDependency</a>&gt;</dt>
<dd></dd>
<dt><code>ncDiagnosticProgress</code> <a class="xref" href="Hi.NcParsers.NcDiagnosticProgress.html">NcDiagnosticProgress</a></dt>
<dd></dd>
</dl>
<a id="Hi_NcParsers_LogicSyntaxs_G43p4RtcpSyntax_MakeXmlSource_" data-uid="Hi.NcParsers.LogicSyntaxs.G43p4RtcpSyntax.MakeXmlSource*"></a>
<h3 id="Hi_NcParsers_LogicSyntaxs_G43p4RtcpSyntax_MakeXmlSource_System_String_System_String_System_Boolean_" data-uid="Hi.NcParsers.LogicSyntaxs.G43p4RtcpSyntax.MakeXmlSource(System.String,System.String,System.Boolean)">
MakeXmlSource(string, string, bool)
</h3>
<div class="markdown level1 summary"><p>Creates an XML representation of the object.
This method may also generate additional resources such as related files.</p>
</div>
<div class="markdown level1 conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public XElement MakeXmlSource(string baseDirectory, string relFile, bool exhibitionOnly)</code></pre>
</div>
<h4 class="section">Parameters</h4>
<dl class="parameters">
<dt><code>baseDirectory</code> <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.string">string</a></dt>
<dd><p>The base directory for resolving relative paths</p>
</dd>
<dt><code>relFile</code> <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.string">string</a></dt>
<dd><p>The relative file path for the XML source</p>
</dd>
<dt><code>exhibitionOnly</code> <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.boolean">bool</a></dt>
<dd><p>if true, the extended file creation is suppressed.</p>
</dd>
</dl>
<h4 class="section">Returns</h4>
<dl class="parameters">
<dt><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.xml.linq.xelement">XElement</a></dt>
<dd><p>An XML element representing the object's state</p>
</dd>
</dl>
<h4 class="section" id="Hi_NcParsers_LogicSyntaxs_G43p4RtcpSyntax_MakeXmlSource_System_String_System_String_System_Boolean__remarks">Remarks</h4>
<div class="markdown level1 remarks"><p>For the demand of easy moving source folder (especially project folder) without configuration file path corruption, the relative file path is applied.
The <code class="paramref">baseDirectory</code> is typically the folder at the nearest configuration file folder.
Since the folder can be moving with the configuration file.</p>
</div>
<a id="Hi_NcParsers_LogicSyntaxs_G43p4RtcpSyntax_Reg_" data-uid="Hi.NcParsers.LogicSyntaxs.G43p4RtcpSyntax.Reg*"></a>
<h3 id="Hi_NcParsers_LogicSyntaxs_G43p4RtcpSyntax_Reg_Hi_Common_XmlUtils_XFactory_" data-uid="Hi.NcParsers.LogicSyntaxs.G43p4RtcpSyntax.Reg(Hi.Common.XmlUtils.XFactory)">
Reg(XFactory)
</h3>
<div class="markdown level1 summary"><p>Registers this type's deserializer with the given <a class="xref" href="Hi.Common.XmlUtils.XFactory.html">XFactory</a>
(or <a class="xref" href="Hi.Common.XmlUtils.XFactory.html#Hi_Common_XmlUtils_XFactory_Default">Default</a> when <code class="paramref">factory</code> is
<code>null</code>). Idempotent.</p>
</div>
<div class="markdown level1 conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public static void Reg(XFactory factory = null)</code></pre>
</div>
<h4 class="section">Parameters</h4>
<dl class="parameters">
<dt><code>factory</code> <a class="xref" href="Hi.Common.XmlUtils.XFactory.html">XFactory</a></dt>
<dd></dd>
</dl>
</article>
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