BZT_PFX500H.tcl

########################## TCL Event Handlers ##########################
#
#  BZT_PFX500H.tcl -
#
#  Created by Toni  @  Dienstag, 28. Oktober 2014 02:00:42 Mitteleuropäische Zeit
#  with Post Builder version  9.0.0.
#
########################################################################


  set cam_post_dir [MOM_ask_env_var UGII_CAM_POST_DIR]


  if { ![info exists mom_sys_post_initialized] } {

     if { ![info exists mom_sys_ugpost_base_initialized] } {
        source ${cam_post_dir}ugpost_base.tcl
        set mom_sys_ugpost_base_initialized 1
     }
 
 
     set mom_sys_debug_mode OFF
 
 
     if { ![info exists env(PB_SUPPRESS_UGPOST_DEBUG)] } {
        set env(PB_SUPPRESS_UGPOST_DEBUG) 0
     }
 
     if $env(PB_SUPPRESS_UGPOST_DEBUG) {
        set mom_sys_debug_mode OFF
     }
 
     if { ![string compare $mom_sys_debug_mode "OFF"] } {
 
        proc MOM_before_each_add_var {} {}
        proc MOM_before_each_event   {} {}
        proc MOM_before_load_address {} {}
        proc MOM_end_debug {} {}
 
     } else {
 
        set cam_debug_dir [MOM_ask_env_var UGII_CAM_DEBUG_DIR]
        source ${cam_debug_dir}mom_review.tcl
     }
 
     MOM_set_debug_mode $mom_sys_debug_mode


   ####  Listing File variables 
     set mom_sys_list_output                       "OFF"
     set mom_sys_header_output                     "OFF"
     set mom_sys_list_file_rows                    "40" 
     set mom_sys_list_file_columns                 "30" 
     set mom_sys_warning_output                    "OFF"
     set mom_sys_group_output                      "OFF"
     set mom_sys_list_file_suffix                  "lpt"
     set mom_sys_output_file_suffix                "nc" 
     set mom_sys_commentary_output                 "ON" 
     set mom_sys_commentary_list                   "x y z feed speed"
     set mom_sys_pb_link_var_mode                  "OFF"
     set mom_sys_use_default_unit_fragment         "ON" 
     set mom_sys_alt_unit_post_name                "BZT_PFX500H__IN.pui"


   #=============================================================
   proc MOM_before_output { } {
   #=============================================================
   # This command is executed just before every NC block is
   # to be output to a file.
   #
   # - Never overload this command!
   # - Any customization should be done in PB_CMD_before_output!
   #

      if { [llength [info commands PB_CMD_kin_before_output]] &&\
           [llength [info commands PB_CMD_before_output]] } {

         PB_CMD_kin_before_output
      }

   ######### The following procedure invokes the listing file with warnings.

      global mom_sys_list_output
      if { [string match "ON" $mom_sys_list_output] } {
         LIST_FILE
      } else {
         global tape_bytes mom_o_buffer
         if { ![info exists tape_bytes] } {
            set tape_bytes [string length $mom_o_buffer]
         } else {
            incr tape_bytes [string length $mom_o_buffer]
         }
      }
   }


     if { [string match "OFF" [MOM_ask_env_var UGII_CAM_POST_LINK_VAR_MODE]] } {
        set mom_sys_link_var_mode                     "OFF"
     } else {
        set mom_sys_link_var_mode                     "$mom_sys_pb_link_var_mode"
     }


     set mom_sys_control_out                       "("  
     set mom_sys_control_in                        ")"  

     set mom_sys_post_initialized 1
  }


########## SYSTEM VARIABLE DECLARATIONS ##############
  set mom_sys_rapid_code                        "0"  
  set mom_sys_linear_code                       "1"  
  set mom_sys_circle_code(CLW)                  "2"  
  set mom_sys_circle_code(CCLW)                 "3"  
  set mom_sys_delay_code(SECONDS)               "4"  
  set mom_sys_delay_code(REVOLUTIONS)           "4"  
  set mom_sys_cutcom_plane_code(XY)             "17" 
  set mom_sys_cutcom_plane_code(ZX)             "18" 
  set mom_sys_cutcom_plane_code(XZ)             "18" 
  set mom_sys_cutcom_plane_code(YZ)             "19" 
  set mom_sys_cutcom_plane_code(ZY)             "19" 
  set mom_sys_cutcom_code(OFF)                  "40" 
  set mom_sys_cutcom_code(LEFT)                 "41" 
  set mom_sys_cutcom_code(RIGHT)                "42" 
  set mom_sys_adjust_code                       "43" 
  set mom_sys_adjust_code_minus                 "44" 
  set mom_sys_adjust_cancel_code                "49" 
  set mom_sys_unit_code(IN)                     "70" 
  set mom_sys_unit_code(MM)                     "21" 
  set mom_sys_cycle_start_code                  "79" 
  set mom_sys_cycle_off                         "80" 
  set mom_sys_cycle_drill_code                  "81" 
  set mom_sys_cycle_drill_dwell_code            "82" 
  set mom_sys_cycle_drill_deep_code             "83" 
  set mom_sys_cycle_drill_break_chip_code       "73" 
  set mom_sys_cycle_tap_code                    "84" 
  set mom_sys_cycle_bore_code                   "85" 
  set mom_sys_cycle_bore_drag_code              "86" 
  set mom_sys_cycle_bore_no_drag_code           "76" 
  set mom_sys_cycle_bore_dwell_code             "89" 
  set mom_sys_cycle_bore_manual_code            "88" 
  set mom_sys_cycle_bore_back_code              "87" 
  set mom_sys_cycle_bore_manual_dwell_code      "88" 
  set mom_sys_output_code(ABSOLUTE)             "90" 
  set mom_sys_output_code(INCREMENTAL)          "91" 
  set mom_sys_cycle_ret_code(AUTO)              "98" 
  set mom_sys_cycle_ret_code(MANUAL)            "99" 
  set mom_sys_reset_code                        "92" 
  set mom_sys_feed_rate_mode_code(FRN)          "93" 
  set mom_sys_spindle_mode_code(SFM)            "96" 
  set mom_sys_spindle_mode_code(RPM)            "97" 
  set mom_sys_return_code                       "28" 
  set mom_sys_feed_rate_mode_code(MMPM)         "94" 
  set mom_sys_feed_rate_mode_code(MMPR)         "95" 
  set mom_sys_program_stop_code                 "0"  
  set mom_sys_optional_stop_code                "1"  
  set mom_sys_end_of_program_code               "30" 
  set mom_sys_spindle_direction_code(CLW)       "3"  
  set mom_sys_spindle_direction_code(CCLW)      "4"  
  set mom_sys_spindle_direction_code(OFF)       "5"  
  set mom_sys_tool_change_code                  "6"  
  set mom_sys_coolant_code(ON)                  "8"  
  set mom_sys_coolant_code(FLOOD)               "8"  
  set mom_sys_coolant_code(MIST)                "8"  
  set mom_sys_coolant_code(THRU)                "26" 
  set mom_sys_coolant_code(TAP)                 "27" 
  set mom_sys_coolant_code(OFF)                 "9"  
  set mom_sys_rewind_code                       "30" 
  set mom_sys_4th_axis_has_limits               "1"  
  set mom_sys_5th_axis_has_limits               "1"  
  set mom_sys_sim_cycle_drill                   "0"  
  set mom_sys_sim_cycle_drill_dwell             "0"  
  set mom_sys_sim_cycle_drill_deep              "0"  
  set mom_sys_sim_cycle_drill_break_chip        "0"  
  set mom_sys_sim_cycle_tap                     "0"  
  set mom_sys_sim_cycle_bore                    "0"  
  set mom_sys_sim_cycle_bore_drag               "0"  
  set mom_sys_sim_cycle_bore_nodrag             "0"  
  set mom_sys_sim_cycle_bore_manual             "0"  
  set mom_sys_sim_cycle_bore_dwell              "0"  
  set mom_sys_sim_cycle_bore_manual_dwell       "0"  
  set mom_sys_sim_cycle_bore_back               "0"  
  set mom_sys_cir_vector                        "Vector - Arc Start to Center"
  set mom_sys_spindle_ranges                    "0"  
  set mom_sys_rewind_stop_code                  "\#" 
  set mom_sys_home_pos(0)                       "0"  
  set mom_sys_home_pos(1)                       "0"  
  set mom_sys_home_pos(2)                       "0"  
  set mom_sys_zero                              "0"  
  set mom_sys_opskip_block_leader               "/"  
  set mom_sys_seqnum_start                      "10" 
  set mom_sys_seqnum_incr                       "10" 
  set mom_sys_seqnum_freq                       "1"  
  set mom_sys_seqnum_max                        "9999"
  set mom_sys_lathe_x_double                    "1"  
  set mom_sys_lathe_i_double                    "1"  
  set mom_sys_lathe_y_double                    "1"  
  set mom_sys_lathe_j_double                    "1"  
  set mom_sys_lathe_x_factor                    "1"  
  set mom_sys_lathe_y_factor                    "1"  
  set mom_sys_lathe_z_factor                    "1"  
  set mom_sys_lathe_i_factor                    "1"  
  set mom_sys_lathe_j_factor                    "1"  
  set mom_sys_lathe_k_factor                    "1"  
  set mom_sys_leader(N)                         "N"  
  set mom_sys_leader(X)                         "X"  
  set mom_sys_leader(Y)                         "Y"  
  set mom_sys_leader(Z)                         "Z"  
  set mom_sys_leader(fourth_axis)               "B"  
  set mom_sys_leader(fifth_axis)                "B"  
  set mom_sys_contour_feed_mode(LINEAR)         "MMPM"
  set mom_sys_rapid_feed_mode(LINEAR)           "MMPM"
  set mom_sys_cycle_feed_mode                   "MMPM"
  set mom_sys_feed_param(IPM,format)            "Feed_IPM"
  set mom_sys_feed_param(IPR,format)            "Feed_IPR"
  set mom_sys_feed_param(FRN,format)            "Feed_INV"
  set mom_sys_vnc_rapid_dogleg                  "1"  
  set mom_sys_prev_mach_head                    ""   
  set mom_sys_curr_mach_head                    ""   
  set mom_sys_feed_param(MMPM,format)           "Feed_MMPM"
  set mom_sys_feed_param(MMPR,format)           "Feed_MMPR"
  set mom_sys_post_description                  "BZT PFX 500H - FAU FabLab - Michael Jäger"
  set mom_sys_ugpadvkins_used                   "0"
  set mom_sys_post_builder_version              "9.0.0"

####### KINEMATIC VARIABLE DECLARATIONS ##############
  set mom_kin_4th_axis_ang_offset               "0.0"
  set mom_kin_4th_axis_center_offset(0)         "0.0"
  set mom_kin_4th_axis_center_offset(1)         "0.0"
  set mom_kin_4th_axis_center_offset(2)         "0.0"
  set mom_kin_4th_axis_direction                "MAGNITUDE_DETERMINES_DIRECTION"
  set mom_kin_4th_axis_incr_switch              "OFF"
  set mom_kin_4th_axis_leader                   "B"  
  set mom_kin_4th_axis_limit_action             "Warning"
  set mom_kin_4th_axis_max_limit                "360"
  set mom_kin_4th_axis_min_incr                 "0.001"
  set mom_kin_4th_axis_min_limit                "0"  
  set mom_kin_4th_axis_plane                    "ZX" 
  set mom_kin_4th_axis_point(0)                 "0.0"
  set mom_kin_4th_axis_point(1)                 "0.0"
  set mom_kin_4th_axis_point(2)                 "0.0"
  set mom_kin_4th_axis_rotation                 "standard"
  set mom_kin_4th_axis_type                     "Table"
  set mom_kin_4th_axis_vector(0)                "0.0"
  set mom_kin_4th_axis_vector(1)                "1.0"
  set mom_kin_4th_axis_vector(2)                "0.0"
  set mom_kin_4th_axis_zero                     "0.0"
  set mom_kin_5th_axis_center_offset(0)         "0.0"
  set mom_kin_5th_axis_center_offset(1)         "0.0"
  set mom_kin_5th_axis_center_offset(2)         "0.0"
  set mom_kin_5th_axis_incr_switch              "OFF"
  set mom_kin_5th_axis_max_limit                "0.0"
  set mom_kin_5th_axis_min_incr                 "0.0"
  set mom_kin_5th_axis_min_limit                "0.0"
  set mom_kin_5th_axis_point(0)                 "0.0"
  set mom_kin_5th_axis_point(1)                 "0.0"
  set mom_kin_5th_axis_point(2)                 "0.0"
  set mom_kin_5th_axis_vector(0)                "0.0"
  set mom_kin_5th_axis_vector(1)                "1.0"
  set mom_kin_5th_axis_vector(2)                "0.0"
  set mom_kin_5th_axis_zero                     "0.0"
  set mom_kin_arc_output_mode                   "FULL_CIRCLE"
  set mom_kin_arc_valid_plane                   "XYZ"
  set mom_kin_clamp_time                        "2.0"
  set mom_kin_cycle_plane_change_per_axis       "0"  
  set mom_kin_cycle_plane_change_to_lower       "0"  
  set mom_kin_flush_time                        "2.0"
  set mom_kin_linearization_flag                "1"  
  set mom_kin_linearization_tol                 "0.01"
  set mom_kin_machine_resolution                ".0025"
  set mom_kin_machine_type                      "3_axis_mill"
  set mom_kin_machine_zero_offset(0)            "0.0"
  set mom_kin_machine_zero_offset(1)            "0.0"
  set mom_kin_machine_zero_offset(2)            "0.0"
  set mom_kin_max_arc_radius                    "99999.999"
  set mom_kin_max_dpm                           "10" 
  set mom_kin_max_fpm                           "10000"
  set mom_kin_max_fpr                           "100"
  set mom_kin_max_frn                           "100"
  set mom_kin_min_arc_length                    "0.20"
  set mom_kin_min_arc_radius                    "0.001"
  set mom_kin_min_dpm                           "0.0"
  set mom_kin_min_fpm                           "0.01"
  set mom_kin_min_fpr                           "0.01"
  set mom_kin_min_frn                           "0.01"
  set mom_kin_output_unit                       "MM" 
  set mom_kin_pivot_gauge_offset                "0.0"
  set mom_kin_pivot_guage_offset                ""   
  set mom_kin_post_data_unit                    "MM" 
  set mom_kin_rapid_feed_rate                   "4500"
  set mom_kin_rotary_axis_method                "PREVIOUS"
  set mom_kin_spindle_axis(0)                   "0.0"
  set mom_kin_spindle_axis(1)                   "0.0"
  set mom_kin_spindle_axis(2)                   "1.0"
  set mom_kin_tool_change_time                  "12.0"
  set mom_kin_x_axis_limit                      "385"
  set mom_kin_y_axis_limit                      "600"
  set mom_kin_z_axis_limit                      "220"




if [llength [info commands MOM_SYS_do_template] ] {
   if [llength [info commands MOM_do_template] ] {
      rename MOM_do_template ""
   }
   rename MOM_SYS_do_template MOM_do_template
}




#=============================================================
proc MOM_start_of_program { } {
#=============================================================
  global mom_logname mom_date is_from
  global mom_coolant_status mom_cutcom_status
  global mom_clamp_status mom_cycle_status
  global mom_spindle_status mom_cutcom_plane pb_start_of_program_flag
  global mom_cutcom_adjust_register mom_tool_adjust_register
  global mom_tool_length_adjust_register mom_length_comp_register
  global mom_flush_register mom_wire_cutcom_adjust_register
  global mom_wire_cutcom_status

    set pb_start_of_program_flag 0
    set mom_coolant_status UNDEFINED
    set mom_cutcom_status  UNDEFINED
    set mom_clamp_status   UNDEFINED
    set mom_cycle_status   UNDEFINED
    set mom_spindle_status UNDEFINED
    set mom_cutcom_plane   UNDEFINED
    set mom_wire_cutcom_status  UNDEFINED

    catch {unset mom_cutcom_adjust_register}
    catch {unset mom_tool_adjust_register}
    catch {unset mom_tool_length_adjust_register}
    catch {unset mom_length_comp_register}
    catch {unset mom_flush_register}
    catch {unset mom_wire_cutcom_adjust_register}

    set is_from ""

    catch { OPEN_files } ; #open warning and listing files
    LIST_FILE_HEADER ; #list header in commentary listing



  global mom_sys_post_initialized
  if { $mom_sys_post_initialized > 1 } { return }


   # Load parameters for alternate output units
    PB_load_alternate_unit_settings
    rename PB_load_alternate_unit_settings ""


#************
uplevel #0 {


#=============================================================
proc MOM_sync { } {
#=============================================================
  if [llength [info commands PB_CMD_kin_handle_sync_event] ] {
    PB_CMD_kin_handle_sync_event
  }
}


#=============================================================
proc MOM_set_csys { } {
#=============================================================
  if [llength [info commands PB_CMD_kin_set_csys] ] {
    PB_CMD_kin_set_csys
  }
}


#=============================================================
proc MOM_msys { } {
#=============================================================
}


#=============================================================
proc MOM_end_of_program { } {
#=============================================================
   MOM_do_template end_of_program_3
   MOM_do_template end_of_program_4
   MOM_do_template end_of_program
   MOM_set_seq_off
   MOM_do_template rewind_stop_code

#**** The following procedure lists the tool list with time in commentary data
   LIST_FILE_TRAILER

#**** The following procedure closes the warning and listing files
   CLOSE_files

   if [llength [info commands PB_CMD_kin_end_of_program] ] {
      PB_CMD_kin_end_of_program
   }
}


  incr mom_sys_post_initialized


} ;# uplevel
#***********


}


#=============================================================
proc PB_init_new_iks { } {
#=============================================================
  global mom_kin_iks_usage mom_kin_spindle_axis
  global mom_kin_4th_axis_vector mom_kin_5th_axis_vector


   set mom_kin_iks_usage 1

  # Override spindle axis vector defined in PB_CMD_init_rotary
   set mom_kin_spindle_axis(0)  0.0
   set mom_kin_spindle_axis(1)  0.0
   set mom_kin_spindle_axis(2)  1.0

  # Unitize vectors
   foreach i { 0 1 2 } {
      set vec($i) $mom_kin_spindle_axis($i)
   }
   VEC3_unitize vec mom_kin_spindle_axis

   foreach i { 0 1 2 } {
      set vec($i) $mom_kin_4th_axis_vector($i)
   }
   VEC3_unitize vec mom_kin_4th_axis_vector

   foreach i { 0 1 2 } {
      set vec($i) $mom_kin_5th_axis_vector($i)
   }
   VEC3_unitize vec mom_kin_5th_axis_vector

  # Reload kinematics
   MOM_reload_kinematics
}


#=============================================================
proc PB_DELAY_TIME_SET { } {
#=============================================================
  global mom_sys_delay_param mom_delay_value
  global mom_delay_revs mom_delay_mode delay_time

  # Post Builder provided format for the current mode:
   if { [info exists mom_sys_delay_param(${mom_delay_mode},format)] != 0 } {
      MOM_set_address_format dwell $mom_sys_delay_param(${mom_delay_mode},format)
   }

   switch $mom_delay_mode {
      SECONDS { set delay_time $mom_delay_value }
      default { set delay_time $mom_delay_revs  }
   }
}


#=============================================================
proc MOM_before_motion { } {
#=============================================================
  global mom_motion_event mom_motion_type

   FEEDRATE_SET


   switch $mom_motion_type {
      ENGAGE   { PB_engage_move }
      APPROACH { PB_approach_move }
      FIRSTCUT { catch {PB_first_cut} }
      RETRACT  { PB_retract_move }
      RETURN   { catch {PB_return_move} }
      default  {}
   }

   if { [llength [info commands PB_CMD_kin_before_motion] ] } { PB_CMD_kin_before_motion }
   if { [llength [info commands PB_CMD_before_motion] ] }     { PB_CMD_before_motion }
}


#=============================================================
proc MOM_start_of_group { } {
#=============================================================
  global mom_sys_group_output mom_group_name group_level ptp_file_name
  global mom_sequence_number mom_sequence_increment mom_sequence_frequency
  global mom_sys_ptp_output pb_start_of_program_flag

   if { ![hiset group_level] } {
      set group_level 0
      return
   }

   if { [hiset mom_sys_group_output] } {
      if { ![string compare $mom_sys_group_output "OFF"] } {
         set group_level 0
         return
      }
   }

   if { [hiset group_level] } {
      incr group_level
   } else {
      set group_level 1
   }

   if { $group_level > 1 } {
      return
   }

   SEQNO_RESET ; #<4133654>
   MOM_reset_sequence $mom_sequence_number $mom_sequence_increment $mom_sequence_frequency

   if { [info exists ptp_file_name] } {
      MOM_close_output_file $ptp_file_name
      MOM_start_of_program
      if { ![string compare $mom_sys_ptp_output "ON"] } {
         MOM_open_output_file $ptp_file_name
      }
   } else {
      MOM_start_of_program
   }

   PB_start_of_program
   set pb_start_of_program_flag 1
}


#=============================================================
proc MOM_machine_mode { } {
#=============================================================
  global pb_start_of_program_flag
  global mom_operation_name mom_sys_change_mach_operation_name

   set mom_sys_change_mach_operation_name $mom_operation_name

   if { $pb_start_of_program_flag == 0 } {
      PB_start_of_program
      set pb_start_of_program_flag 1
   }

  # For simple mill-turn
   if { [llength [info commands PB_machine_mode] ] } {
      if { [catch {PB_machine_mode} res] } {
         CATCH_WARNING "$res"
      }
   }
}


#=============================================================
proc PB_FORCE { option args } {
#=============================================================
   set adds [join $args]
   if { [info exists option] && [llength $adds] } {
      lappend cmd MOM_force
      lappend cmd $option
      lappend cmd [join $adds]
      eval [join $cmd]
   }
}


#=============================================================
proc PB_SET_RAPID_MOD { mod_list blk_list ADDR NEW_MOD_LIST } {
#=============================================================
  upvar $ADDR addr
  upvar $NEW_MOD_LIST new_mod_list
  global mom_cycle_spindle_axis traverse_axis1 traverse_axis2


   set new_mod_list [list]

   foreach mod $mod_list {
      switch $mod {
         "rapid1" {
            set elem $addr($traverse_axis1)
            if { [lsearch $blk_list $elem] >= 0 } {
               lappend new_mod_list $elem
            }
         }
         "rapid2" {
            set elem $addr($traverse_axis2)
            if { [lsearch $blk_list $elem] >= 0 } {
               lappend new_mod_list $elem
            }
         }
         "rapid3" {
            set elem $addr($mom_cycle_spindle_axis)
            if { [lsearch $blk_list $elem] >= 0 } {
               lappend new_mod_list $elem
            }
         }
         default {
            set elem $mod
            if { [lsearch $blk_list $elem] >= 0 } {
               lappend new_mod_list $elem
            }
         }
      }
   }
}


########################
# Redefine FEEDRATE_SET
########################
if { [llength [info commands ugpost_FEEDRATE_SET] ] } {
   rename ugpost_FEEDRATE_SET ""
}

if { [llength [info commands FEEDRATE_SET] ] } {
   rename FEEDRATE_SET ugpost_FEEDRATE_SET
} else {
   proc ugpost_FEEDRATE_SET {} {}
}


#=============================================================
proc FEEDRATE_SET { } {
#=============================================================
   if { [llength [info commands PB_CMD_kin_feedrate_set] ] } {
      PB_CMD_kin_feedrate_set
   } else {
      ugpost_FEEDRATE_SET
   }
}


############## EVENT HANDLING SECTION ################


#=============================================================
proc MOM_auxfun { } {
#=============================================================
   MOM_do_template auxfun
}


#=============================================================
proc MOM_bore { } {
#=============================================================
  global cycle_name
  global cycle_init_flag

   set cycle_init_flag TRUE
   set cycle_name BORE
   CYCLE_SET
}


#=============================================================
proc MOM_bore_move { } {
#=============================================================
   global cycle_init_flag


   global mom_sys_abort_next_event
   if { [info exists mom_sys_abort_next_event] } {
      if { [llength [info commands PB_CMD_kin_abort_event]] } {
         PB_CMD_kin_abort_event
      }
   }


   MOM_do_template cycle_bore
   set cycle_init_flag FALSE
}


#=============================================================
proc MOM_bore_back { } {
#=============================================================
  global cycle_name
  global cycle_init_flag

   set cycle_init_flag TRUE
   set cycle_name BORE_BACK
   CYCLE_SET
}


#=============================================================
proc MOM_bore_back_move { } {
#=============================================================
   global cycle_init_flag


   global mom_sys_abort_next_event
   if { [info exists mom_sys_abort_next_event] } {
      if { [llength [info commands PB_CMD_kin_abort_event]] } {
         PB_CMD_kin_abort_event
      }
   }


   MOM_do_template cycle_bore_back
   set cycle_init_flag FALSE
}


#=============================================================
proc MOM_bore_drag { } {
#=============================================================
  global cycle_name
  global cycle_init_flag

   set cycle_init_flag TRUE
   set cycle_name BORE_DRAG
   CYCLE_SET
}


#=============================================================
proc MOM_bore_drag_move { } {
#=============================================================
   global cycle_init_flag


   global mom_sys_abort_next_event
   if { [info exists mom_sys_abort_next_event] } {
      if { [llength [info commands PB_CMD_kin_abort_event]] } {
         PB_CMD_kin_abort_event
      }
   }


   MOM_do_template cycle_bore_drag
   set cycle_init_flag FALSE
}


#=============================================================
proc MOM_bore_dwell { } {
#=============================================================
  global cycle_name
  global cycle_init_flag

   set cycle_init_flag TRUE
   set cycle_name BORE_DWELL
   CYCLE_SET
}


#=============================================================
proc MOM_bore_dwell_move { } {
#=============================================================
   global cycle_init_flag


   global mom_sys_abort_next_event
   if { [info exists mom_sys_abort_next_event] } {
      if { [llength [info commands PB_CMD_kin_abort_event]] } {
         PB_CMD_kin_abort_event
      }
   }


   MOM_do_template cycle_bore_dwell
   set cycle_init_flag FALSE
}


#=============================================================
proc MOM_bore_manual { } {
#=============================================================
  global cycle_name
  global cycle_init_flag

   set cycle_init_flag TRUE
   set cycle_name BORE_MANUAL
   CYCLE_SET
}


#=============================================================
proc MOM_bore_manual_move { } {
#=============================================================
   global cycle_init_flag


   global mom_sys_abort_next_event
   if { [info exists mom_sys_abort_next_event] } {
      if { [llength [info commands PB_CMD_kin_abort_event]] } {
         PB_CMD_kin_abort_event
      }
   }


   MOM_do_template cycle_bore_manual
   set cycle_init_flag FALSE
}


#=============================================================
proc MOM_bore_manual_dwell { } {
#=============================================================
  global cycle_name
  global cycle_init_flag

   set cycle_init_flag TRUE
   set cycle_name BORE_MANUAL_DWELL
   CYCLE_SET
}


#=============================================================
proc MOM_bore_manual_dwell_move { } {
#=============================================================
   global cycle_init_flag


   global mom_sys_abort_next_event
   if { [info exists mom_sys_abort_next_event] } {
      if { [llength [info commands PB_CMD_kin_abort_event]] } {
         PB_CMD_kin_abort_event
      }
   }


   MOM_do_template cycle_bore_manual_dwell
   set cycle_init_flag FALSE
}


#=============================================================
proc MOM_bore_no_drag { } {
#=============================================================
  global cycle_name
  global cycle_init_flag

   set cycle_init_flag TRUE
   set cycle_name BORE_NO_DRAG
   CYCLE_SET
}


#=============================================================
proc MOM_bore_no_drag_move { } {
#=============================================================
   global cycle_init_flag


   global mom_sys_abort_next_event
   if { [info exists mom_sys_abort_next_event] } {
      if { [llength [info commands PB_CMD_kin_abort_event]] } {
         PB_CMD_kin_abort_event
      }
   }


   MOM_do_template cycle_bore_no_drag
   set cycle_init_flag FALSE
}


#=============================================================
proc MOM_circular_move { } {
#=============================================================

   global mom_sys_abort_next_event
   if { [info exists mom_sys_abort_next_event] } {
      if { [llength [info commands PB_CMD_kin_abort_event]] } {
         PB_CMD_kin_abort_event
      }
   }


   CIRCLE_SET
   MOM_force Once G_motion
   MOM_do_template circular_move
}


#=============================================================
proc MOM_coolant_off { } {
#=============================================================
   COOLANT_SET
   MOM_do_template coolant_off
}


#=============================================================
proc MOM_coolant_on { } {
#=============================================================
   COOLANT_SET
   MOM_do_template coolant_on
}


#=============================================================
proc MOM_cutcom_off { } {
#=============================================================
   CUTCOM_SET
   MOM_do_template cutcom_off
}


#=============================================================
proc MOM_cutcom_on { } {
#=============================================================
   CUTCOM_SET

   global mom_cutcom_adjust_register
   set cutcom_register_min 1
   set cutcom_register_max 99
   if { [info exists mom_cutcom_adjust_register] } {
      if { $mom_cutcom_adjust_register < $cutcom_register_min ||\
           $mom_cutcom_adjust_register > $cutcom_register_max } {
         CATCH_WARNING "CUTCOM register $mom_cutcom_adjust_register must be within the range between 1 and 99"
      }
   }
}


#=============================================================
proc MOM_cycle_off { } {
#=============================================================
   MOM_do_template cycle_off
}


#=============================================================
proc MOM_cycle_plane_change { } {
#=============================================================
  global cycle_init_flag
  global mom_cycle_tool_axis_change
  global mom_cycle_clearance_plane_change

   set cycle_init_flag TRUE
}


#=============================================================
proc MOM_delay { } {
#=============================================================
   PB_DELAY_TIME_SET
   MOM_do_template delay
}


#=============================================================
proc MOM_drill { } {
#=============================================================
  global cycle_name
  global cycle_init_flag

   set cycle_init_flag TRUE
   set cycle_name DRILL
   CYCLE_SET
}


#=============================================================
proc MOM_drill_move { } {
#=============================================================
   global cycle_init_flag


   global mom_sys_abort_next_event
   if { [info exists mom_sys_abort_next_event] } {
      if { [llength [info commands PB_CMD_kin_abort_event]] } {
         PB_CMD_kin_abort_event
      }
   }


   MOM_do_template cycle_drill
   set cycle_init_flag FALSE
}


#=============================================================
proc MOM_drill_break_chip { } {
#=============================================================
  global cycle_name
  global cycle_init_flag

   set cycle_init_flag TRUE
   set cycle_name DRILL_BREAK_CHIP
   CYCLE_SET
}


#=============================================================
proc MOM_drill_break_chip_move { } {
#=============================================================
   global cycle_init_flag


   global mom_sys_abort_next_event
   if { [info exists mom_sys_abort_next_event] } {
      if { [llength [info commands PB_CMD_kin_abort_event]] } {
         PB_CMD_kin_abort_event
      }
   }


   MOM_do_template cycle_drill_break_chip
   set cycle_init_flag FALSE
}


#=============================================================
proc MOM_drill_deep { } {
#=============================================================
  global cycle_name
  global cycle_init_flag

   set cycle_init_flag TRUE
   set cycle_name DRILL_DEEP
   CYCLE_SET
}


#=============================================================
proc MOM_drill_deep_move { } {
#=============================================================
   global cycle_init_flag


   global mom_sys_abort_next_event
   if { [info exists mom_sys_abort_next_event] } {
      if { [llength [info commands PB_CMD_kin_abort_event]] } {
         PB_CMD_kin_abort_event
      }
   }


   MOM_do_template cycle_drill_deep
   set cycle_init_flag FALSE
}


#=============================================================
proc MOM_drill_dwell { } {
#=============================================================
  global cycle_name
  global cycle_init_flag

   set cycle_init_flag TRUE
   set cycle_name DRILL_DWELL
   CYCLE_SET
}


#=============================================================
proc MOM_drill_dwell_move { } {
#=============================================================
   global cycle_init_flag


   global mom_sys_abort_next_event
   if { [info exists mom_sys_abort_next_event] } {
      if { [llength [info commands PB_CMD_kin_abort_event]] } {
         PB_CMD_kin_abort_event
      }
   }


   MOM_do_template cycle_drill_dwell
   set cycle_init_flag FALSE
}


#=============================================================
proc MOM_drill_text { } {
#=============================================================
  global cycle_name
  global cycle_init_flag

   set cycle_init_flag TRUE
   set cycle_name DRILL_TEXT
   CYCLE_SET
}


#=============================================================
proc MOM_drill_text_move { } {
#=============================================================
   global cycle_init_flag


   global mom_sys_abort_next_event
   if { [info exists mom_sys_abort_next_event] } {
      if { [llength [info commands PB_CMD_kin_abort_event]] } {
         PB_CMD_kin_abort_event
      }
   }


   set cycle_init_flag FALSE
}


#=============================================================
proc MOM_end_of_path { } {
#=============================================================
  global mom_sys_add_cutting_time mom_sys_add_non_cutting_time
  global mom_cutting_time mom_machine_time

  # Accumulated time should be in minutes.
   set mom_cutting_time [expr $mom_cutting_time + $mom_sys_add_cutting_time]
   set mom_machine_time [expr $mom_machine_time + $mom_sys_add_cutting_time + $mom_sys_add_non_cutting_time]
   MOM_reload_variable mom_cutting_time
   MOM_reload_variable mom_machine_time

   if [llength [info commands PB_CMD_kin_end_of_path] ] {
      PB_CMD_kin_end_of_path
   }

   global mom_sys_in_operation
   set mom_sys_in_operation 0
}


#=============================================================
proc MOM_end_of_subop_path { } {
#=============================================================
}


#=============================================================
proc MOM_first_move { } {
#=============================================================
  global mom_feed_rate mom_feed_rate_per_rev mom_motion_type
  global mom_kin_max_fpm mom_motion_event
   COOLANT_SET ; CUTCOM_SET ; SPINDLE_SET ; RAPID_SET
   catch {MOM_$mom_motion_event}
}


#=============================================================
proc MOM_first_tool { } {
#=============================================================
  global mom_sys_first_tool_handled

  # First tool only gets handled once
   if { [info exists mom_sys_first_tool_handled] } {
      MOM_tool_change
      return
   }

   set mom_sys_first_tool_handled 1

   MOM_tool_change
}


#=============================================================
proc MOM_from_move { } {
#=============================================================
  global mom_feed_rate mom_feed_rate_per_rev  mom_motion_type mom_kin_max_fpm
   COOLANT_SET ; CUTCOM_SET ; SPINDLE_SET ; RAPID_SET
}


#=============================================================
proc MOM_gohome_move { } {
#=============================================================
   MOM_rapid_move
}


#=============================================================
proc MOM_initial_move { } {
#=============================================================
  global mom_feed_rate mom_feed_rate_per_rev mom_motion_type
  global mom_kin_max_fpm mom_motion_event
   COOLANT_SET ; CUTCOM_SET ; SPINDLE_SET ; RAPID_SET

  global mom_programmed_feed_rate
   if { [EQ_is_equal $mom_programmed_feed_rate 0] } {
      MOM_rapid_move
   } else {
      MOM_linear_move
   }
}


#=============================================================
proc MOM_length_compensation { } {
#=============================================================
   TOOL_SET MOM_length_compensation
   MOM_do_template tool_length_adjust
}


#=============================================================
proc MOM_linear_move { } {
#=============================================================
  global feed_mode mom_feed_rate mom_kin_rapid_feed_rate

   if { ![string compare $feed_mode "IPM"] || ![string compare $feed_mode "MMPM"] } {
      if { [EQ_is_ge $mom_feed_rate $mom_kin_rapid_feed_rate] } {
         MOM_rapid_move
         return
      }
   }


   global mom_sys_abort_next_event
   if { [info exists mom_sys_abort_next_event] } {
      if { [llength [info commands PB_CMD_kin_abort_event]] } {
         PB_CMD_kin_abort_event
      }
   }


   global first_linear_move

   if { !$first_linear_move } {
      PB_first_linear_move
      incr first_linear_move
   }

   PB_CMD_suppress_linear_block_plane_code
   MOM_do_template linear_move
}


#=============================================================
proc MOM_load_tool { } {
#=============================================================
  global mom_tool_change_type mom_manual_tool_change
}


#=============================================================
proc MOM_opstop { } {
#=============================================================
   MOM_do_template opstop
}


#=============================================================
proc MOM_prefun { } {
#=============================================================
   MOM_do_template prefun
}


#=============================================================
proc MOM_rapid_move { } {
#=============================================================
  global rapid_spindle_inhibit rapid_traverse_inhibit
  global spindle_first is_from
  global mom_cycle_spindle_axis traverse_axis1 traverse_axis2
  global mom_motion_event


   global mom_sys_abort_next_event
   if { [info exists mom_sys_abort_next_event] } {
      if { [llength [info commands PB_CMD_kin_abort_event]] } {
         PB_CMD_kin_abort_event
      }
   }


   set spindle_first NONE

   set aa(0) X ; set aa(1) Y ; set aa(2) Z
   RAPID_SET
   set rapid_spindle_blk {G_motion X Y Z S}
   set rapid_spindle_x_blk {G_motion X S}
   set rapid_spindle_y_blk {G_motion Y S}
   set rapid_spindle_z_blk {G_motion Z S}
   set rapid_traverse_blk {G_motion X Y Z S}
   set rapid_traverse_xy_blk {G_motion X Y S}
   set rapid_traverse_yz_blk {G_motion Y Z S}
   set rapid_traverse_xz_blk {G_motion X Z S}
   set rapid_traverse_mod {}
   set rapid_spindle_mod {}

   global mom_sys_control_out mom_sys_control_in
   set co "$mom_sys_control_out"
   set ci "$mom_sys_control_in"


   if { ![info exists mom_cycle_spindle_axis] } {
      set mom_cycle_spindle_axis 2
   }
   if { ![info exists spindle_first] } {
      set spindle_first NONE
   }
   if { ![info exists rapid_spindle_inhibit] } {
      set rapid_spindle_inhibit FALSE
   }
   if { ![info exists rapid_traverse_inhibit] } {
      set rapid_traverse_inhibit FALSE
   }

   switch $mom_cycle_spindle_axis {
      0 {
         if [llength $rapid_spindle_x_blk] {
            set spindle_block  rapid_spindle_x
            PB_SET_RAPID_MOD $rapid_spindle_mod $rapid_spindle_x_blk aa mod_spindle
         } else {
            set spindle_block  ""
         }
         if [llength $rapid_traverse_yz_blk] {
            set traverse_block rapid_traverse_yz
            PB_SET_RAPID_MOD $rapid_traverse_mod $rapid_traverse_yz_blk aa mod_traverse
         } else {
            set traverse_block  ""
         }
      }

      1 {
         if [llength $rapid_spindle_y_blk] {
            set spindle_block  rapid_spindle_y
            PB_SET_RAPID_MOD $rapid_spindle_mod $rapid_spindle_y_blk aa mod_spindle
         } else {
            set spindle_block  ""
         }
         if [llength $rapid_traverse_xz_blk] {
            set traverse_block rapid_traverse_xz
            PB_SET_RAPID_MOD $rapid_traverse_mod $rapid_traverse_xz_blk aa mod_traverse
         } else {
            set traverse_block  ""
         }
      }

      2 {
         if [llength $rapid_spindle_z_blk] {
            set spindle_block  rapid_spindle_z
            PB_SET_RAPID_MOD $rapid_spindle_mod $rapid_spindle_z_blk aa mod_spindle
         } else {
            set spindle_block  ""
         }
         if [llength $rapid_traverse_xy_blk] {
            set traverse_block rapid_traverse_xy
            PB_SET_RAPID_MOD $rapid_traverse_mod $rapid_traverse_xy_blk aa mod_traverse
         } else {
            set traverse_block  ""
         }
      }

      default {
         set spindle_block  rapid_spindle
         set traverse_block rapid_traverse
         PB_SET_RAPID_MOD $rapid_spindle_mod $rapid_spindle_blk aa mod_spindle
         PB_SET_RAPID_MOD $rapid_traverse_mod $rapid_traverse_blk aa mod_traverse
      }
   }

   if { ![string compare $spindle_first "TRUE"] } {
      if { ![string compare $rapid_spindle_inhibit "FALSE"] } {
         if { [string compare $spindle_block ""] } {
            PB_FORCE Once $mod_spindle
            MOM_do_template $spindle_block
         } else {
            MOM_output_literal "$co Rapid Spindle Block is empty! $ci"
         }
      }
      if { ![string compare $rapid_traverse_inhibit "FALSE"] } {
         if { [string compare $traverse_block ""] } {
            PB_FORCE Once $mod_traverse
            MOM_do_template $traverse_block
         } else {
            MOM_output_literal "$co Rapid Traverse Block is empty! $ci"
         }
      }
   } elseif { ![string compare $spindle_first "FALSE"] } {
      if { ![string compare $rapid_traverse_inhibit "FALSE"] } {
         if { [string compare $traverse_block ""] } {
            PB_FORCE Once $mod_traverse
            MOM_do_template $traverse_block
         } else {
            MOM_output_literal "$co Rapid Traverse Block is empty! $ci"
         }
      }
      if { ![string compare $rapid_spindle_inhibit "FALSE"] } {
         if { [string compare $spindle_block ""] } {
            PB_FORCE Once $mod_spindle
            MOM_do_template $spindle_block
         } else {
            MOM_output_literal "$co Rapid Spindle Block is empty! $ci"
         }
      }
   } else {
      PB_FORCE Once $mod_traverse
      MOM_do_template rapid_traverse
   }
}


#=============================================================
proc MOM_sequence_number { } {
#=============================================================
   SEQNO_SET
}


#=============================================================
proc MOM_set_modes { } {
#=============================================================
   MODES_SET
}


#=============================================================
proc MOM_spindle_off { } {
#=============================================================
   MOM_do_template spindle_off
}


#=============================================================
proc MOM_spindle_rpm { } {
#=============================================================
   SPINDLE_SET
   MOM_force Once S M_spindle
   MOM_do_template spindle_rpm
}


#=============================================================
proc MOM_start_of_path { } {
#=============================================================
  global mom_sys_in_operation
   set mom_sys_in_operation 1

  global first_linear_move ; set first_linear_move 0
   TOOL_SET MOM_start_of_path


  global mom_sys_add_cutting_time mom_sys_add_non_cutting_time
  global mom_sys_machine_time mom_machine_time
   set mom_sys_add_cutting_time 0.0
   set mom_sys_add_non_cutting_time 0.0
   set mom_sys_machine_time $mom_machine_time

   if [llength [info commands PB_CMD_kin_start_of_path] ] {
      PB_CMD_kin_start_of_path
   }

   PB_CMD_start_of_operation_force_addresses
}


#=============================================================
proc MOM_start_of_subop_path { } {
#=============================================================
}


#=============================================================
proc MOM_stop { } {
#=============================================================
   MOM_do_template stop
}


#=============================================================
proc MOM_tap { } {
#=============================================================
  global cycle_name
  global cycle_init_flag

   set cycle_init_flag TRUE
   set cycle_name TAP
   CYCLE_SET
}


#=============================================================
proc MOM_tap_move { } {
#=============================================================
   global cycle_init_flag


   global mom_sys_abort_next_event
   if { [info exists mom_sys_abort_next_event] } {
      if { [llength [info commands PB_CMD_kin_abort_event]] } {
         PB_CMD_kin_abort_event
      }
   }


   MOM_do_template cycle_tap
   set cycle_init_flag FALSE
}


#=============================================================
proc MOM_tool_change { } {
#=============================================================
  global mom_tool_change_type mom_manual_tool_change
   if { [info exists mom_tool_change_type] } {
      switch $mom_tool_change_type {
         MANUAL { PB_manual_tool_change }
         AUTO   { PB_auto_tool_change }
      }
   } elseif { [info exists mom_manual_tool_change] } {
      if { ![string compare $mom_manual_tool_change "TRUE"] } {
         PB_manual_tool_change
      }
   }
}


#=============================================================
proc MOM_tool_preselect { } {
#=============================================================
  global mom_tool_preselect_number mom_tool_number mom_next_tool_number
   if {[info exists mom_tool_preselect_number]} {
      set mom_next_tool_number $mom_tool_preselect_number
   }
   MOM_do_template tool_preselect
}


#=============================================================
proc PB_approach_move { } {
#=============================================================
}


#=============================================================
proc PB_auto_tool_change { } {
#=============================================================
   global mom_tool_number mom_next_tool_number
   if { ![info exists mom_next_tool_number] } {
      set mom_next_tool_number $mom_tool_number
   }

   MOM_do_template auto_tool_change
   PB_CMD_tool_change_force_addresses
   MOM_force Once G
   MOM_do_template tool_change
   MOM_force Once T M
#   MOM_do_template tool_change_1
   MOM_do_template auto_tool_change_1
   MOM_do_template auto_tool_change_3
}


#=============================================================
proc PB_engage_move { } {
#=============================================================
}


#=============================================================
proc PB_feedrates { } {
#=============================================================
}


#=============================================================
proc PB_first_cut { } {
#=============================================================
}


#=============================================================
proc PB_first_linear_move { } {
#=============================================================
  global mom_sys_first_linear_move

  # Set this variable to signal 1st linear move has been handled.
   set mom_sys_first_linear_move 1

}


#=============================================================
proc PB_manual_tool_change { } {
#=============================================================
}


#=============================================================
proc PB_retract_move { } {
#=============================================================
}


#=============================================================
proc PB_return_move { } {
#=============================================================
}


#=============================================================
proc PB_start_of_program { } {
#=============================================================

   if [llength [info commands PB_CMD_kin_start_of_program] ] {
      PB_CMD_kin_start_of_program
   }

   MOM_set_seq_off
   MOM_do_template rewind_stop_code
   MOM_set_seq_on
   MOM_force Once G_cutcom G_plane G_mode
   MOM_do_template absolute_mode
   PB_CMD_fix_RAPID_SET

   if [llength [info commands PB_CMD_kin_start_of_program_2] ] {
      PB_CMD_kin_start_of_program_2
   }
}


#=============================================================
proc PB_CMD_FEEDRATE_NUMBER { } {
#=============================================================
#  This custom command is called by FEEDRATE_SET;
#  it allows you to modify the feed rate number after being
#  calculated by the system.
#
#<03-13-08 gsl> - Added use of frn factor (defined in ugpost_base.tcl) & max frn here
#                 Use global frn factor (defined as 1.0 in ugpost_base.tcl) or
#                 define a custom one here

   global mom_feed_rate_number
   global mom_sys_frn_factor
   global mom_kin_max_frn

  # set mom_sys_frn_factor 1.0

   set f 0.0

   if { [info exists mom_feed_rate_number] } {
      set f [expr $mom_feed_rate_number * $mom_sys_frn_factor]
      if { [EQ_is_gt $f $mom_kin_max_frn] } {
         set f $mom_kin_max_frn
      }
   }

return $f
}


#=============================================================
proc PB_CMD__log_revisions { } {
#=============================================================
# Dummy command to log changes in this post --
#
# 02-26-09 gsl - Initial version
#
}


#=============================================================
proc PB_CMD__manage_part_attributes { } {
#=============================================================
# This command allows the user to manage the MOM variables
# generated for the part attributes, in case of conflicts.
#
# ==> This command is executed automatically when present in
#     the post. DO NOT add or call it in any event or command.
#

  # This command should only be called by MOM__part_attributes!
   if { ![CALLED_BY "MOM__part_attributes"] } {
return
   }

}


#=============================================================
proc PB_CMD_abort_event { } {
#=============================================================
# This command can be called to abort an event based on the
# flag being set by other handler under certain conditions,
# such as an invalid tool axis vector.
#
# Users can set the global variable mom_sys_abort_next_event to
# different severity levels throughout the post and designate
# how to handle different conditions in this command.
#
# - Rapid, linear, circular and cycle move events have this trigger
#   built in by default in PB6.0.
#
# 06-17-13 gsl - Do not abort event, by default, when signal is "1".
#
   global mom_sys_abort_next_event

   if { [info exists mom_sys_abort_next_event] } {

      switch $mom_sys_abort_next_event {
         2 {
            unset mom_sys_abort_next_event
            CATCH_WARNING "Event aborted!"

            MOM_abort_event
         }
         default {
            unset mom_sys_abort_next_event
            CATCH_WARNING "Event warned!"
         }
      }
   }
}


#=============================================================
proc PB_CMD_ask_machine_type { } {
#=============================================================
# Utility to return machine type per mom_kin_machine_type
#
# Revisions:
#-----------
# 02-26-09 gsl - Initial version
#
   global mom_kin_machine_type

   if { [string match "*wedm*" $mom_kin_machine_type] } {
return WEDM
   } elseif { [string match "*axis*" $mom_kin_machine_type] } {
return MILL
   } elseif { [string match "*lathe*" $mom_kin_machine_type] } {
return TURN
   } else {
return $mom_kin_machine_type
   }
}


#=============================================================
proc PB_CMD_enable_ball_center_output { } {
#=============================================================
# This command can be added to the Start-of-Program event marker
# to enable ball-center output for ANY milling operations that use
# one of the following 3 types (mom_tool_type) of tool:
#  a. "Milling Tool-Ball Mill"
#  b. "Spherical Mill"
#  c. "Milling Tool-5 Parameters" whose tool diameter is 2 times of the corner radius.
#
#  - Only qualified operations will cause NX/Post to produce ball-center outputs.
#  - The condition is verified for every operation.
#  - Ball centers are computed for every move including cutting and non-cutting motions in
#    either standard or turbo process mode.
#  - Legacy command "PB_CMD_center_of_ball_output", if present in the post, will be disabled.
#

   # This command should be called in the Start-of-Program event
   if { ![CALLED_BY "PB_start_of_program"] } {
return
   }

   # This command only works with NX9 & beyond.
   if { [expr [string trim [MOM_ask_env_var UGII_MAJOR_VERSION]] < 9] } {
      CATCH_WARNING "[info level 0] is only functional with NX9 and newer!"
return
   }

   # Disable legacy command
   if { [CMD_EXIST PB_CMD_center_of_ball_output] } {
    uplevel #0 {
      proc PB_CMD_center_of_ball_output { } { }
    }
   }


   # Enable new capability
   global mom_sys_enable_ball_center_output
   set mom_sys_enable_ball_center_output 1


   # Define event handler
   if $mom_sys_enable_ball_center_output {
    uplevel #0 {

      #-------------------------------------------------------------------------------
      proc MOM_ball_center_output { } {
         # This event will be triggered before Start-of-Path when
         # an operation is qualified to produce ball-center outputs.
         #
         # This command may be customized as needed.
         #
      }
      #-------------------------------------------------------------------------------

    }
   }

}


#=============================================================
proc PB_CMD_end_of_alignment_character { } {
#=============================================================
# This command restores sequnece number back to orignal setting.
# This command may be used with the command "PM_CMD_start_of_alignment_character"
#
   global mom_sys_leader saved_seq_num
   if { [info exists saved_seq_num] } {
      set mom_sys_leader(N) $saved_seq_num
   }
}


#=============================================================
proc PB_CMD_fix_RAPID_SET { } {
#=============================================================
# This command is provided to overwrite the system RAPID_SET
# (defined in ugpost_base.tcl) in order to correct the problem
# with workplane change that doesn't account for +/- directions
# along X or Y principal axis.  It also fixes the problem that
# the First Move was never identified correctly to force
# the output of the 1st point.
#
# The original command has been renamed as ugpost_RAPID_SET.
#
# - This command may be attached to the "Start of Program" event marker.
#
#
# Revisions:
#-----------
# 02-18-08 gsl - Initial version
# 02-26-09 gsl - Used mom_kin_machine_type to derive machine mode when it's UNDEFINED.
#

  # Only redefine RAPID_SET once, since ugpost_base is only loaded once.
  #
   if { ![CMD_EXIST ugpost_RAPID_SET] } {
      if { [CMD_EXIST RAPID_SET] } {
         rename RAPID_SET ugpost_RAPID_SET
      }
   } else {
return
   }


#***********
uplevel #0 {

#====================
proc RAPID_SET { } {
#====================

   if { [CMD_EXIST PB_CMD_set_principal_axis] } {
      PB_CMD_set_principal_axis
   }


   global mom_cycle_spindle_axis mom_sys_work_plane_change
   global traverse_axis1 traverse_axis2 mom_motion_event mom_machine_mode
   global mom_pos mom_prev_pos mom_from_pos mom_last_pos mom_sys_home_pos
   global mom_sys_tool_change_pos
   global spindle_first rapid_spindle_inhibit rapid_traverse_inhibit

   if { ![info exists mom_from_pos($mom_cycle_spindle_axis)] &&\
         [info exists mom_sys_home_pos($mom_cycle_spindle_axis)] } {

      set mom_from_pos(0) $mom_sys_home_pos(0)
      set mom_from_pos(1) $mom_sys_home_pos(1)
      set mom_from_pos(2) $mom_sys_home_pos(2)

   } elseif { ![info exists mom_sys_home_pos($mom_cycle_spindle_axis)] &&\
              [info exists mom_from_pos($mom_cycle_spindle_axis)] } {

      set mom_sys_home_pos(0) $mom_from_pos(0)
      set mom_sys_home_pos(1) $mom_from_pos(1)
      set mom_sys_home_pos(2) $mom_from_pos(2)

   } elseif { ![info exists mom_sys_home_pos($mom_cycle_spindle_axis)] &&\
             ![info exists mom_from_pos($mom_cycle_spindle_axis)] } {

      set mom_from_pos(0) 0.0 ; set mom_sys_home_pos(0) 0.0
      set mom_from_pos(1) 0.0 ; set mom_sys_home_pos(1) 0.0
      set mom_from_pos(2) 0.0 ; set mom_sys_home_pos(2) 0.0
   }

   if { ![info exists mom_sys_tool_change_pos($mom_cycle_spindle_axis)] } {
      set mom_sys_tool_change_pos($mom_cycle_spindle_axis) 100000.0
   }

   set is_first_move 0
   if { [string match "MOM_first_move" [MOM_ask_event_type]] } {
      set is_first_move 1
   }

   if { ![info exists mom_motion_event] } { set mom_motion_event "" }

   if { [string match "initial_move" $mom_motion_event] || $is_first_move } {
      set mom_last_pos($mom_cycle_spindle_axis) $mom_sys_tool_change_pos($mom_cycle_spindle_axis)
   } else {
      if { [info exists mom_last_pos($mom_cycle_spindle_axis)] == 0 } {
         set mom_last_pos($mom_cycle_spindle_axis) $mom_sys_home_pos($mom_cycle_spindle_axis)
      }
   }


   if { $mom_machine_mode != "MILL" && $mom_machine_mode != "DRILL" } {
     # When machine mode is UNDEFINED, ask machine type
      if { ![string match "MILL" [PB_CMD_ask_machine_type]] } {
return
      }
   }


   WORKPLANE_SET

   set rapid_spindle_inhibit  FALSE
   set rapid_traverse_inhibit FALSE


   if { [EQ_is_lt $mom_pos($mom_cycle_spindle_axis) $mom_last_pos($mom_cycle_spindle_axis)] } {
      set going_lower 1
   } else {
      set going_lower 0
   }


   if { ![info exists mom_sys_work_plane_change] } {
      set mom_sys_work_plane_change 1
   }


  # Reverse workplane change direction per spindle axis
   global mom_spindle_axis

   if { [info exists mom_spindle_axis] } {

    #++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
    # User can temporarily disable the work plane change for rapid moves along non-principal
    # spindle axis even when work plane change has been set in the Rapid Move event.
    #
    # Work plane change, if set, will still be in effect for moves along principal axes.
    #
    # - This flag has no effect if the work plane change is not set.
    #

      set disable_non_principal_spindle 0


      switch $mom_cycle_spindle_axis {
         0 {
            if [EQ_is_lt $mom_spindle_axis(0) 0.0] {
               set going_lower [expr abs($going_lower - 1)]
            }
         }
         1 {
            if [EQ_is_lt $mom_spindle_axis(1) 0.0] {
               set going_lower [expr abs($going_lower - 1)]
            }
         }
         2 {
         # Multi-spindle machine
            if [EQ_is_lt $mom_spindle_axis(2) 0.0] {
               set going_lower [expr abs($going_lower - 1)]
            }
         }
      }


     # Per user's choice above, disable work plane change for non-principal spindle axis
     #
      if { $disable_non_principal_spindle } {

         if { ![EQ_is_equal $mom_spindle_axis(0) 1] &&\
              ![EQ_is_equal $mom_spindle_axis(1) 1] &&\
              ![EQ_is_equal $mom_spindle_axis(0) 1] } {

            global mom_user_work_plane_change
            global mom_user_spindle_first

            set mom_user_work_plane_change $mom_sys_work_plane_change
            set mom_sys_work_plane_change 0

            if [info exists spindle_first] {
               set mom_user_spindle_first $spindle_first
            } else {
               set mom_user_spindle_first NONE
            }
         }
      }
   }


   if { $mom_sys_work_plane_change } {

      if { $going_lower } {
         set spindle_first FALSE
      } else {
         set spindle_first TRUE
      }

     # Force output in Initial Move and First Move.
      if { ![string match "*initial_move*" $mom_motion_event] && !$is_first_move } {

         if { [EQ_is_equal $mom_pos($mom_cycle_spindle_axis) $mom_last_pos($mom_cycle_spindle_axis)] } {
            set rapid_spindle_inhibit TRUE
         } else {
            set rapid_spindle_inhibit FALSE
         }

         if { [EQ_is_equal $mom_pos($traverse_axis1) $mom_prev_pos($traverse_axis1)] &&\
              [EQ_is_equal $mom_pos($traverse_axis2) $mom_prev_pos($traverse_axis2)] &&\
              [EQ_is_equal $mom_pos(3) $mom_prev_pos(3)] &&\
              [EQ_is_equal $mom_pos(4) $mom_prev_pos(4)] } {

            set rapid_traverse_inhibit TRUE
         } else {
            set rapid_traverse_inhibit FALSE
         }
      }

   } else {
      set spindle_first NONE
   }

} ;# RAPID_SET

} ;# uplevel
#***********

}


#=============================================================
proc PB_CMD_kin_abort_event { } {
#=============================================================
   if { [llength [info commands PB_CMD_abort_event]] } {
      PB_CMD_abort_event
   }
}


#=============================================================
proc PB_CMD_kin_before_output { } {
#=============================================================
# Broker command ensuring PB_CMD_before_output,if present, gets executed
# by MOM_before_output.
#
   if [llength [info commands PB_CMD_before_output] ] {
      PB_CMD_before_output
   }
}


#=============================================================
proc PB_CMD_kin_end_of_path { } {
#=============================================================
  # Record tool time for this operation.
   if { [llength [info commands PB_CMD_set_oper_tool_time] ] } {
      PB_CMD_set_oper_tool_time
   }

  # Clear tool holder angle used in operation
   global mom_use_b_axis
   UNSET_VARS mom_use_b_axis
}


#=============================================================
proc PB_CMD_kin_feedrate_set { } {
#=============================================================
# This command supercedes the functionalites provided by the
# FEEDRATE_SET in ugpost_base.tcl.  Post Builder automatically
# generates proper call sequences to this command in the
# Event handlers.
#
# This command must be used in conjunction with ugpost_base.tcl.
#
   global   feed com_feed_rate
   global   mom_feed_rate_output_mode super_feed_mode feed_mode
   global   mom_cycle_feed_rate_mode mom_cycle_feed_rate
   global   mom_cycle_feed_rate_per_rev
   global   mom_motion_type
   global   Feed_IPM Feed_IPR Feed_MMPM Feed_MMPR Feed_INV
   global   mom_sys_feed_param
   global   mom_sys_cycle_feed_mode


   set super_feed_mode $mom_feed_rate_output_mode

   set f_pm [ASK_FEEDRATE_FPM]
   set f_pr [ASK_FEEDRATE_FPR]

   switch $mom_motion_type {

      CYCLE {
         if { [info exists mom_sys_cycle_feed_mode] } {
            if { [string compare "Auto" $mom_sys_cycle_feed_mode] } {
               set mom_cycle_feed_rate_mode $mom_sys_cycle_feed_mode
            }
         }
         if { [info exists mom_cycle_feed_rate_mode] }    { set super_feed_mode $mom_cycle_feed_rate_mode }
         if { [info exists mom_cycle_feed_rate] }         { set f_pm $mom_cycle_feed_rate }
         if { [info exists mom_cycle_feed_rate_per_rev] } { set f_pr $mom_cycle_feed_rate_per_rev }
      }

      FROM -
      RETRACT -
      RETURN -
      LIFT -
      TRAVERSAL -
      GOHOME -
      GOHOME_DEFAULT -
      RAPID {
         SUPER_FEED_MODE_SET RAPID
      }

      default {
         if { [EQ_is_zero $f_pm] && [EQ_is_zero $f_pr] } {
            SUPER_FEED_MODE_SET RAPID
         } else {
            SUPER_FEED_MODE_SET CONTOUR
         }
      }
   }


   set feed_mode $super_feed_mode


  # Adjust feedrate format per Post output unit again.
   global mom_kin_output_unit
   if { ![string compare "IN" $mom_kin_output_unit] } {
      switch $feed_mode {
         MMPM {
            set feed_mode "IPM"
            CATCH_WARNING "Feedrate mode MMPM changed to IPM"
         }
         MMPR {
            set feed_mode "IPR"
            CATCH_WARNING "Feedrate mode MMPR changed to IPR"
         }
      }
   } else {
      switch $feed_mode {
         IPM {
            set feed_mode "MMPM"
            CATCH_WARNING "Feedrate mode IPM changed to MMPM"
         }
         IPR {
            set feed_mode "MMPR"
            CATCH_WARNING "Feedrate mode IPR changed to MMPR"
         }
      }
   }


   switch $feed_mode {
      IPM     -
      MMPM    { set feed $f_pm }
      IPR     -
      MMPR    { set feed $f_pr }
      DPM     { set feed [PB_CMD_FEEDRATE_DPM] }
      FRN     -
      INVERSE { set feed [PB_CMD_FEEDRATE_NUMBER] }
      default {
         CATCH_WARNING "INVALID FEED RATE MODE"
         return
      }
   }


  # Post Builder provided format for the current mode:
   if { [info exists mom_sys_feed_param(${feed_mode},format)] } {
      MOM_set_address_format F $mom_sys_feed_param(${feed_mode},format)
   } else {
      switch $feed_mode {
         IPM     -
         MMPM    -
         IPR     -
         MMPR    -
         DPM     -
         FRN     { MOM_set_address_format F Feed_${feed_mode} }
         INVERSE { MOM_set_address_format F Feed_INV }
      }
   }

  # Commentary output
   set com_feed_rate $f_pm


  # Execute user's command, if any.
   if { [llength [info commands "PB_CMD_FEEDRATE_SET"]] } {
      PB_CMD_FEEDRATE_SET
   }
}


#=============================================================
proc PB_CMD_kin_init_new_iks { } {
#=============================================================
   global mom_kin_machine_type
   global mom_new_iks_exists

  # Revert legacy dual-head kinematic parameters when new IKS is absent.
   if { [string match "5_axis_dual_head" $mom_kin_machine_type] } {
      if { ![info exists mom_new_iks_exists] } {
         set ugii_version [string trim [MOM_ask_env_var UGII_VERSION]]
         if { ![string match "v3" $ugii_version] } {

            if { [CMD_EXIST PB_CMD_revert_dual_head_kin_vars] } {
               PB_CMD_revert_dual_head_kin_vars
            }
return
         }
      }
   }

  # Initialize new IKS parameters.
   if { [CMD_EXIST PB_init_new_iks] } {
      PB_init_new_iks
   }

  # Users can provide next command to modify or disable new IKS options.
   if { [CMD_EXIST PB_CMD_revise_new_iks] } {
      PB_CMD_revise_new_iks
   }

  # Revert legacy dual-head kinematic parameters when new IKS is disabled.
   if { [string match "5_axis_dual_head" $mom_kin_machine_type] } {
      global mom_kin_iks_usage
      if { $mom_kin_iks_usage == 0 } {
         if { [CMD_EXIST PB_CMD_revert_dual_head_kin_vars] } {
            PB_CMD_revert_dual_head_kin_vars
         }
      }
   }
}


#=============================================================
proc PB_CMD_kin_init_probing_cycles { } {
#=============================================================
   set cmd PB_CMD_init_probing_cycles
   if { [CMD_EXIST "$cmd"] } {
      eval $cmd
   }
}


#=============================================================
proc PB_CMD_kin_set_csys { } {
#=============================================================
# - For mill post -
#

  # Output NC code according to CSYS
   if { [CMD_EXIST PB_CMD_set_csys] } {
      PB_CMD_set_csys
   }

  # Overload IKS params from machine model.
   PB_CMD_reload_iks_parameters

  # In case Axis Rotation has been set to "reverse"
   if { [CMD_EXIST PB_CMD_reverse_rotation_vector] } {
      PB_CMD_reverse_rotation_vector
   }
}


#=============================================================
proc PB_CMD_kin_start_of_path { } {
#=============================================================
# - For mill post -
#
#  This command is executed at the start of every operation.
#  It will verify if a new head (post) was loaded and will
#  then initialize any functionality specific to that post.
#
#  It will also restore the master Start of Program &
#  End of Program event handlers.
#
#  --> DO NOT CHANGE THIS COMMAND UNLESS YOU KNOW WHAT YOU ARE DOING.
#  --> DO NOT CALL THIS COMMAND FROM ANY OTHER CUSTOM COMMAND.
#
  global mom_sys_head_change_init_program

   if { [info exists mom_sys_head_change_init_program] } {

      PB_CMD_kin_start_of_program
      unset mom_sys_head_change_init_program


     # Load alternate units' parameters
      if [CMD_EXIST PB_load_alternate_unit_settings] {
         PB_load_alternate_unit_settings
         rename PB_load_alternate_unit_settings ""
      }


     # Execute start of head callback in new post's context.
      global CURRENT_HEAD
      if { [info exists CURRENT_HEAD] && [CMD_EXIST PB_start_of_HEAD__$CURRENT_HEAD] } {
         PB_start_of_HEAD__$CURRENT_HEAD
      }

     # Restore master start & end of program handlers
      if { [CMD_EXIST "MOM_start_of_program_save"] } {
         if { [CMD_EXIST "MOM_start_of_program"] } {
            rename MOM_start_of_program ""
         }
         rename MOM_start_of_program_save MOM_start_of_program
      }
      if { [CMD_EXIST "MOM_end_of_program_save"] } {
         if { [CMD_EXIST "MOM_end_of_program"] } {
            rename MOM_end_of_program ""
         }
         rename MOM_end_of_program_save MOM_end_of_program
      }

     # Restore master head change event handler
      if { [CMD_EXIST "MOM_head_save"] } {
         if { [CMD_EXIST "MOM_head"] } {
            rename MOM_head ""
         }
         rename MOM_head_save MOM_head
      }
   }

  # Overload IKS params from machine model.
   PB_CMD_reload_iks_parameters

  # Incase Axis Rotation has been set to "reverse"
   if { [CMD_EXIST PB_CMD_reverse_rotation_vector] } {
      PB_CMD_reverse_rotation_vector
   }

  # Initialize tool time accumulator for this operation.
   if { [CMD_EXIST PB_CMD_init_oper_tool_time] } {
      PB_CMD_init_oper_tool_time
   }

  # Force out motion G code at the start of path.
   MOM_force once G_motion
}


#=============================================================
proc PB_CMD_kin_start_of_program { } {
#=============================================================
#  This command will execute the following custom commands for
#  initialization.  They will be executed once at the start of
#  program and again each time they are loaded as a linked post.
#  After execution they will be deleted so that they are not
#  present when a different post is loaded.  You may add a call
#  to any command that you want executed when a linked post is
#  loaded.
#
#  Note when a linked post is called in, the Start of Program
#  event marker is not executed again.
#
#  --> DO NOT REMOVE ANY LINES FROM THIS PROCEDURE UNLESS YOU KNOW
#      WHAT YOU ARE DOING.
#  --> DO NOT CALL THIS PROCEDURE FROM ANY
#      OTHER CUSTOM COMMAND.
#
   global mom_kin_machine_type


   set command_list [list]

   if { [info exists mom_kin_machine_type] } {
      if { ![string match "*3_axis_mill*" $mom_kin_machine_type] &&\
           ![string match "*lathe*" $mom_kin_machine_type] } {

         lappend command_list  PB_CMD_kin_init_rotary
      }
   }

   lappend command_list  PB_CMD_kin_init_new_iks

   lappend command_list  PB_CMD_init_pivot_offsets
   lappend command_list  PB_CMD_init_auto_retract
   lappend command_list  PB_CMD_initialize_parallel_zw_mode
   lappend command_list  PB_CMD_init_parallel_zw_mode
   lappend command_list  PB_CMD_initialize_tool_list
   lappend command_list  PB_CMD_init_tool_list
   lappend command_list  PB_CMD_init_tape_break
   lappend command_list  PB_CMD_initialize_spindle_axis
   lappend command_list  PB_CMD_init_spindle_axis
   lappend command_list  PB_CMD_initialize_helix
   lappend command_list  PB_CMD_init_helix
   lappend command_list  PB_CMD_pq_cutcom_initialize
   lappend command_list  PB_CMD_init_pq_cutcom

   lappend command_list  PB_CMD_kin_init_probing_cycles

   lappend command_list  PB_DEFINE_MACROS

   if { [info exists mom_kin_machine_type] } {
      if { [string match "*3_axis_mill_turn*" $mom_kin_machine_type] } {

         lappend command_list  PB_CMD_kin_init_mill_xzc
         lappend command_list  PB_CMD_kin_mill_xzc_init
        # lappend command_list  PB_CMD_kin_init_mill_turn
         lappend command_list  PB_CMD_kin_mill_turn_initialize
      }
   }


   foreach cmd $command_list {

      if { [CMD_EXIST "$cmd"] } {

        # <PB v2.0.2>
        # Old init commands for XZC/MILL_TURN posts are not executed.
        # Parameters set by these commands in the v2.0 legacy posts
        # will need to be transfered to PB_CMD_init_mill_xzc &
        # PB_CMD_init_mill_turn commands respectively.

         switch $cmd {
            "PB_CMD_kin_mill_xzc_init" -
            "PB_CMD_kin_mill_turn_initialize" {}
            default { eval $cmd }
         }
         rename $cmd ""
         proc $cmd { args } {}
      }
   }
}


#=============================================================
proc PB_CMD_negate_R_value { } {
#=============================================================
# This command negates the value of radius when the included angle
# of an arc is greater than 180.
#
# ==> This comamnd may be added to the Circular Move event for a post
#     of Fanuc controller when the R-style circular output format is used.
#
# 10-05-11 gsl - (pb801 IR2178985) Initial version
#

   global mom_arc_angle mom_arc_radius

   if [expr $mom_arc_angle > 180.0] {
      set mom_arc_radius [expr -1*$mom_arc_radius]
   }
}


#=============================================================
proc PB_CMD_pause { } {
#=============================================================
# This command enables you to pause the UG/Post processing.
#
   PAUSE
}


#=============================================================
proc PB_CMD_reload_iks_parameters { } {
#=============================================================
# This command overloads new IKS params from a machine model (NX4^).
# It will be executed automatically at the start of each path
# or when CSYS has changed.
#
# ==> Uncomment the "return" statement below to disable the reload.

# return

   global mom_csys_matrix
   global mom_kin_iks_usage

  #----------------------------------------------------------
  # Set a classification to fetch kinematic parameters from
  # a particular set of K-components of a machine.
  # - Default is NONE.
  #----------------------------------------------------------
   set custom_classification NONE

   if { [info exists mom_kin_iks_usage] && $mom_kin_iks_usage == 1 } {
      if { [info exists mom_csys_matrix] } {
         if { [CMD_EXIST MOM_validate_machine_model] } {
            if { ![string compare "TRUE" [MOM_validate_machine_model]] } {
               MOM_reload_iks_parameters "$custom_classification"
               MOM_reload_kinematics
            }
         }
      }
   }
}


#=============================================================
proc PB_CMD_restore_work_plane_change { } {
#=============================================================
#<02-18-08 gsl> Restore work plane change flag, if being disabled due to a simulated cycle.

   global mom_user_work_plane_change mom_sys_work_plane_change
   global mom_user_spindle_first spindle_first

   if { [info exists mom_user_work_plane_change] } {
      set mom_sys_work_plane_change $mom_user_work_plane_change
      set spindle_first $mom_user_spindle_first
      unset mom_user_work_plane_change
      unset mom_user_spindle_first
   }
}


#=============================================================
proc PB_CMD_revise_new_iks { } {
#=============================================================
# This command is executed automatically, which allows you
# to change the default IKS parameters or disable the IKS
# service completely.
#
# --> Do not attach this command to any event marker! ***
#
   global mom_kin_iks_usage
   global mom_kin_rotary_axis_method
   global mom_kin_spindle_axis
   global mom_kin_4th_axis_vector
   global mom_kin_5th_axis_vector


  # Uncomment next statement to disable new IKS service
  # set mom_kin_iks_usage           0


  # Uncomment next statement to change rotary solution method
  # set mom_kin_rotary_axis_method  "ZERO"


  # Reload kinematics if any parameter above has changed.
   if { ([info exists mom_kin_iks_usage] && !$mom_kin_iks_usage) ||\
        ([info exists mom_kin_rotary_axis_method] && [string match "ZERO" $mom_kin_rotary_axis_method]) } {

      MOM_reload_kinematics
   }
}


#=============================================================
proc PB_CMD_set_csys { } {
#=============================================================
# This custom command is provided as the default to nullify
# the same command in a linked post that may have been
# imported from pb_cmd_coordinate_system_rotation.tcl.
#
}


#=============================================================
proc PB_CMD_set_cycle_plane { } {
#=============================================================
# Use this command to determine and output proper plane code
# when G17/18/19 is used in the cycle definition.
#
# <04-15-08 gsl> - Add initialization for protection
# <03-06-08 gsl> - Declare needed global variables
# <02-28-08 gsl> - Make use of mom_spindle_axis
# <06-22-09 gsl> - Call PB_CMD_set_principal_axis
#

  #+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
  # This option can be set to 1, if the address of cycle's
  # principal axis needs to be suppressed. (Ex. Siemens controller)
  #+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
   set suppress_principal_axis 0


  #++++++++++++++++++++++++++++++++++++++++++++++++++++++
  # This option can be set to 1, if the plane code needs
  # to be forced out @ the start of every set of cycles.
  #++++++++++++++++++++++++++++++++++++++++++++++++++++++
   set force_plane_code 0


   global mom_cycle_spindle_axis


   PB_CMD_set_principal_axis


   switch $mom_cycle_spindle_axis {
      0 {
         set principal_axis X
      }
      1 {
         set principal_axis Y
      }
      2 {
         set principal_axis Z
      }
      default {
         set principal_axis ""
      }
   }


   if { $suppress_principal_axis && [string length $principal_axis] > 0 } {
      MOM_suppress once $principal_axis
   }


   if { $force_plane_code } {
      global cycle_init_flag

      if { [info exists cycle_init_flag] && [string match "TRUE" $cycle_init_flag] } {
         MOM_force once G_plane
      }
   }
}


#=============================================================
proc PB_CMD_set_principal_axis { } {
#=============================================================
# This command can be used to determine the principal axis.
#
# => It can be used to determine a proper work plane when the
#    "Work Plane" parameter is not specified with an operation.
#
#
# <06-22-09 gsl> - Extracted from PB_CMD_set_cycle_plane
# <10-09-09 gsl> - Do not define mom_pos_arc_plane unless it doesn't exist.
# <03-10-10 gsl> - Respect tool axis for 3-axis & XZC cases
# <01-21-11 gsl> - Enhance header description
# <07-12-12 gsl> - Find principal axis for XZC-mill from the spindle axis
#

   global mom_cycle_spindle_axis
   global mom_spindle_axis
   global mom_cutcom_plane mom_pos_arc_plane


  # Initialization spindle axis
   global mom_kin_spindle_axis
   global mom_sys_spindle_axis
   if { ![info exists mom_kin_spindle_axis] } {
      set mom_kin_spindle_axis(0) 0.0
      set mom_kin_spindle_axis(1) 0.0
      set mom_kin_spindle_axis(2) 1.0
   }
   if { ![info exists mom_sys_spindle_axis] } {
      VMOV 3 mom_kin_spindle_axis mom_sys_spindle_axis
   }
   if { ![info exists mom_spindle_axis] } {
      VMOV 3 mom_sys_spindle_axis mom_spindle_axis
   }


  # Default cycle spindle axis to Z
   set mom_cycle_spindle_axis 2


  # Respect tool axis only for 3-axis mill
   global mom_kin_machine_type mom_tool_axis
   if [string match "3_axis_mill" $mom_kin_machine_type] {
      VMOV 3 mom_tool_axis spindle_axis
   } else {
      VMOV 3 mom_spindle_axis spindle_axis
   }


   if { [EQ_is_equal [expr abs($spindle_axis(0))] 1.0] } {
      set mom_cycle_spindle_axis 0
   }

   if { [EQ_is_equal [expr abs($spindle_axis(1))] 1.0] } {
      set mom_cycle_spindle_axis 1
   }


   switch $mom_cycle_spindle_axis {
      0 {
         set mom_cutcom_plane  YZ
      }
      1 {
         set mom_cutcom_plane  ZX
      }
      2 {
         set mom_cutcom_plane  XY
      }
      default {
         set mom_cutcom_plane  UNDEFINED
      }
   }

  # Set arc plane when it's not defined
   if { ![info exists mom_pos_arc_plane] || $mom_pos_arc_plane == "" } {
      set mom_pos_arc_plane $mom_cutcom_plane
   }
}


#=============================================================
proc PB_CMD_start_of_alignment_character { } {
#=============================================================
# This command can be used to output a special sequence number character.
# Replace the ":" with any character that you require.
# You must use the command "PB_CMD_end_of_alignment_character" to reset
# the sequence number back to the original setting.
#
   global mom_sys_leader saved_seq_num
   set saved_seq_num $mom_sys_leader(N)
   set mom_sys_leader(N) ":"
}


#=============================================================
proc PB_CMD_start_of_operation_force_addresses { } {
#=============================================================
   MOM_force once S M_spindle X Y Z fourth_axis fifth_axis F
}


#=============================================================
proc PB_CMD_suppress_linear_block_plane_code { } {
#=============================================================
# This command is to be called in the linear move event to suppress
# G_plane address when the cutcom status has not changed.
# -- Assuming G_cutcom address is modal and G_plane exists in the block
#
#<10-11-09 gsl> - New
#<01-20-11 gsl> - Force out plane code for the 1st linear move when CUTCOM is on
#<03-16-12 gsl> - Added use of CALLED_BY
#

  # Restrict this command to be executed only by MOM_linear_move
   if { ![CALLED_BY "MOM_linear_move"] } {
return
   }


   global mom_cutcom_status mom_user_prev_cutcom_status

   if { ![info exists mom_cutcom_status] } {
      set mom_cutcom_status UNDEFINED
   }

   if { ![info exists mom_user_prev_cutcom_status] } {
      set mom_user_prev_cutcom_status UNDEFINED
   }


  # Suppress plane code when no change of CUTCOM status
   if { [string match "UNDEFINED" $mom_cutcom_status] ||\
        [string match $mom_user_prev_cutcom_status $mom_cutcom_status] } {

      MOM_suppress once G_plane

   } else {

     # Force out plane code for the 1st CUTCOM activation of an operation,
     # otherwise plane code will only come out when work plane has changed
     # since last activation.
     #

      set force_1st_plane_code  "1"


      if { $force_1st_plane_code } {

        # This var should have been set in PB_first_linear_move
         global mom_sys_first_linear_move

         if { ![info exists mom_sys_first_linear_move] || $mom_sys_first_linear_move } {

            if { [string match "LEFT"  $mom_cutcom_status] ||\
                 [string match "RIGHT" $mom_cutcom_status] ||\
                 [string match "ON"    $mom_cutcom_status] } {

               MOM_force once G_plane
               set mom_sys_first_linear_move 0
            }
         }
      }
   }


   if { ![string match $mom_user_prev_cutcom_status $mom_cutcom_status] } {
      set mom_user_prev_cutcom_status $mom_cutcom_status
   }
}


#=============================================================
proc PB_CMD_tool_change_force_addresses { } {
#=============================================================
   MOM_force once G_adjust H X Y Z S fourth_axis fifth_axis
}


#=============================================================
proc ARCTAN { y x } {
#=============================================================
   global PI

   if { [EQ_is_zero $y] } { set y 0 }
   if { [EQ_is_zero $x] } { set x 0 }

   if { [expr $y == 0] && [expr $x == 0] } {
      return 0
   }

   set ang [expr atan2($y,$x)]

   if { $ang < 0 } {
      return [expr $ang + $PI*2]
   } else {
      return $ang
   }
}


#=============================================================
proc ARR_sort_array_vals { ARR } {
#=============================================================
# This command will sort and return a list containing the indexed elements of an array.
#
   upvar $ARR arr

   set list [list]
   foreach a [lsort -dictionary [array names arr]] {
      if ![catch {expr $arr($a)}] {
         set val [format "%+.5f" $arr($a)]
      } else {
         set val $arr($a)
      }
      lappend list ($a) $val
   }

return $list
}


#=============================================================
proc CALLED_BY { caller {out_warn 0} args } {
#=============================================================
# This command can be used in the beginning of a command
# to designate a specific caller for the command in question.
#
# - Users can set the optional flag "out_warn" to "1" to output
#   warning message when a command is being called by a
#   non-designated caller. By default, warning message is suppressed.
#
#  Syntax:
#    if { ![CALLED_BY "cmd_string"] } { return ;# or do something }
#  or
#    if { ![CALLED_BY "cmd_string" 1] } { return ;# To output warning }
#
# Revisions:
#-----------
# 05-25-10 gsl - Initial implementation
# 03-09-11 gsl - Enhanced description
#

   if { ![string compare "$caller" [info level -2] ] } {
return 1
   } else {
      if { $out_warn } {
         CATCH_WARNING "\"[info level -1]\" can not be executed in \"[info level -2]\". \
                        It must be called by \"$caller\"!"
      }
return 0
   }
}


#=============================================================
proc CATCH_WARNING { msg {output 1} } {
#=============================================================
# This command is called in a post to spice up the message to be output to the warning file.
#
   global mom_warning_info
   global mom_motion_event
   global mom_event_number
   global mom_motion_type
   global mom_operation_name


   if { $output == 1 } {

      set level [info level]
      set call_stack ""
      for { set i 1 } { $i < $level } { incr i } {
         set call_stack "$call_stack\[ [lindex [info level $i] 0] \]"
      }

      global mom_o_buffer
      if { ![info exists mom_o_buffer] } {
         set mom_o_buffer ""
      }

      if { ![info exists mom_motion_event] } {
         set mom_motion_event ""
      }

      if { [info exists mom_operation_name] && [string length $mom_operation_name] } {
         set mom_warning_info "$msg\n\  Operation $mom_operation_name - Event $mom_event_number [MOM_ask_event_type] :\
                               $mom_motion_event ($mom_motion_type)\n\    $mom_o_buffer\n\      $call_stack"
      } else {
         set mom_warning_info "$msg\n\  Event $mom_event_number [MOM_ask_event_type] :\
                               $mom_motion_event ($mom_motion_type)\n\    $mom_o_buffer\n\      $call_stack"
      }

      MOM_catch_warning
   }

   # Restore mom_warning_info for subsequent use
   set mom_warning_info $msg
}


#=============================================================
proc CMD_EXIST { cmd {out_warn 0} args } {
#=============================================================
# This command can be used to detect the existence of a command
# before executing it.
# - Users can set the optional flag "out_warn" to "1" to output
#   warning message when a command to be called doesn't exist.
#   By default, warning message is suppressed.
#
#  Syntax:
#    if { [CMD_EXIST "cmd_string"] } { cmd_string }
#  or
#    if { [CMD_EXIST "cmd_string" 1] } { cmd_string ;# To output warning }
#
# Revisions:
#-----------
# 05-25-10 gsl - Initial implementation
# 03-09-11 gsl - Enhanced description
#

   if { [llength [info commands "$cmd"] ] } {
return 1
   } else {
      if { $out_warn } {
         CATCH_WARNING "Command \"$cmd\" called by \"[info level -1]\" does not exist!"
      }
return 0
   }
}


#=============================================================
proc EXEC { command_string {__wait 1} } {
#=============================================================
# This command can be used in place of the intrinsic Tcl "exec" command
# of which some problems have been reported under Win64 O/S and multi-core
# processors environment.
#
#
# Input:
#   command_string -- command string
#   __wait         -- optional flag
#                     1 (default)   = Caller will wait until execution is complete.
#                     0 (specified) = Caller will not wait.
#
# Return:
#   Results of execution
#
#
# Revisions:
#-----------
# 05-19-10 gsl - Initial implementation
#

   global tcl_platform


   if { $__wait } {

      if { [string match "windows" $tcl_platform(platform)] } {

         global env mom_logname

        # Create a temporary file to collect output
         set result_file "$env(TEMP)/${mom_logname}__EXEC_[clock clicks].out"

        # Clean up existing file
         regsub -all {\\} $result_file {/}  result_file
        #regsub -all { }  $result_file {\ } result_file

         if { [file exists "$result_file"] } {
            file delete -force "$result_file"
         }

         set cmd [concat exec $command_string > \"$result_file\"]
         regsub -all {\\} $cmd {\\\\} cmd

         eval $cmd

        # Return results & clean up temporary file
         if { [file exists "$result_file"] } {
            set fid [open "$result_file" r]
            set result [read $fid]
            close $fid

            file delete -force "$result_file"

           return $result
         }

      } else {

         set cmd [concat exec $command_string]

        return [eval $cmd]
      }

   } else {

      if { [string match "windows" $tcl_platform(platform)] } {

         set cmd [concat exec $command_string &]
         regsub -all {\\} $cmd {\\\\} cmd

        return [eval $cmd]

      } else {

        return [exec $command_string &]
      }
   }
}




#=============================================================
proc INFO { args } {
#=============================================================
   MOM_output_to_listing_device [join $args]
}


#=============================================================
proc LIMIT_ANGLE { a } {
#=============================================================
   set a [expr fmod($a,360)]
   set a [expr ($a < 0) ? ($a + 360) : $a]

return $a
}


#=============================================================
proc MAXMIN_ANGLE { a max min {tol_flag 0} } {
#=============================================================
   if { $tol_flag == 0 } { ;# Direct comparison

      while { $a < $min } { set a [expr $a + 360.0] }
      while { $a > $max } { set a [expr $a - 360.0] }

   } else { ;# Tolerant comparison

      while { [EQ_is_lt $a $min] } { set a [expr $a + 360.0] }
      while { [EQ_is_gt $a $max] } { set a [expr $a - 360.0] }
   }

return $a
}


#=============================================================
proc PAUSE { args } {
#=============================================================
# Revisions:
#-----------
# 05-19-10 gsl - Use EXEC command
#

   global env

   if { [info exists env(PB_SUPPRESS_UGPOST_DEBUG)]  &&  $env(PB_SUPPRESS_UGPOST_DEBUG) == 1 } {
  return
   }


   global gPB

   if { [info exists gPB(PB_disable_MOM_pause)]  &&  $gPB(PB_disable_MOM_pause) == 1 } {
  return
   }


   global tcl_platform

   set cam_aux_dir  [MOM_ask_env_var UGII_CAM_AUXILIARY_DIR]

   if { [string match "*windows*" $tcl_platform(platform)] } {
      set ug_wish "ugwish.exe"
   } else {
      set ug_wish ugwish
   }

   if { [file exists ${cam_aux_dir}$ug_wish]  &&  [file exists ${cam_aux_dir}mom_pause.tcl] } {

      set title ""
      set msg ""

      if { [llength $args] == 1 } {
         set msg [lindex $args 0]
      }

      if { [llength $args] > 1 } {
         set title [lindex $args 0]
         set msg [lindex $args 1]
      }

      set command_string [concat \"${cam_aux_dir}$ug_wish\" \"${cam_aux_dir}mom_pause.tcl\" \"$title\" \"$msg\"]

      set res [EXEC $command_string]


      switch [string trim $res] {
         no {
            set gPB(PB_disable_MOM_pause) 1
         }
         cancel {
            set gPB(PB_disable_MOM_pause) 1

            uplevel #0 {
               MOM_abort "*** User Abort Post Processing *** "
            }
         }
         default {
            return
         }
      }

   } else {

      CATCH_WARNING "PAUSE not executed -- \"$ug_wish\" or \"mom_pause.tcl\" not found"
   }
}


#=============================================================
proc PAUSE_win64 { args } {
#=============================================================
   global env
   if { [info exists env(PB_SUPPRESS_UGPOST_DEBUG)]  &&  $env(PB_SUPPRESS_UGPOST_DEBUG) == 1 } {
  return
   }

   global gPB
   if { [info exists gPB(PB_disable_MOM_pause)]  &&  $gPB(PB_disable_MOM_pause) == 1 } {
  return
   }


   set cam_aux_dir  [MOM_ask_env_var UGII_CAM_AUXILIARY_DIR]
   set ug_wish "ugwish.exe"

   if { [file exists ${cam_aux_dir}$ug_wish] &&\
        [file exists ${cam_aux_dir}mom_pause_win64.tcl] } {

      set title ""
      set msg ""

      if { [llength $args] == 1 } {
         set msg [lindex $args 0]
      }

      if { [llength $args] > 1 } {
         set title [lindex $args 0]
         set msg [lindex $args 1]
      }


     ######
     # Define a scratch file and pass it to mom_pause_win64.tcl script -
     #
     #   A separated process will be created to construct the Tk dialog.
     #   This process will communicate with the main process via the state of a scratch file.
     #   This scratch file will collect the messages that need to be conveyed from the
     #   child process to the main process.
     ######
      global mom_logname
      set pause_file_name "$env(TEMP)/${mom_logname}_mom_pause_[clock clicks].txt"


     ######
     # Path names should be per unix style for "open" command
     ######
      regsub -all {\\} $pause_file_name {/}  pause_file_name
      regsub -all { }  $pause_file_name {\ } pause_file_name
      regsub -all {\\} $cam_aux_dir {/}  cam_aux_dir
      regsub -all { }  $cam_aux_dir {\ } cam_aux_dir

      if [file exists $pause_file_name] {
         file delete -force $pause_file_name
      }


     ######
     # Note that the argument order for mom_pasue.tcl has been changed
     # The assumption at this point is we will always have the communication file as the first
     # argument and optionally the title and message as the second and third arguments
     ######
      open "|${cam_aux_dir}$ug_wish ${cam_aux_dir}mom_pause_win64.tcl ${pause_file_name} {$title} {$msg}"


     ######
     # Waiting for the mom_pause to complete its process...
     # - This is indicated when the scratch file materialized and became read-only.
     ######
      while { ![file exists $pause_file_name] || [file writable $pause_file_name] } { }


     ######
     # Delay a 100 milli-seconds to ensure that sufficient time is given for the other process to complete.
     ######
      after 100


     ######
     # Open the scratch file to read and process the information.  Close it afterward.
     ######
      set fid [open "$pause_file_name" r]

      set res [string trim [gets $fid]]
      switch $res {
         no {
            set gPB(PB_disable_MOM_pause) 1
         }
         cancel {
            close $fid
            file delete -force $pause_file_name

            set gPB(PB_disable_MOM_pause) 1

            uplevel #0 {
               MOM_abort "*** User Abort Post Processing *** "
            }
         }
         default {}
      }


     ######
     # Delete the scratch file
     ######
      close $fid
      file delete -force $pause_file_name
   }
}


#=============================================================
proc PAUSE_x { args } {
#=============================================================
   global env
   if { [info exists env(PB_SUPPRESS_UGPOST_DEBUG)]  &&  $env(PB_SUPPRESS_UGPOST_DEBUG) == 1 } {
  return
   }

   global gPB
   if { [info exists gPB(PB_disable_MOM_pause)]  &&  $gPB(PB_disable_MOM_pause) == 1 } {
  return
   }



  #==========
  # Win64 OS
  #
   global tcl_platform

   if { [string match "*windows*" $tcl_platform(platform)] } {
      global mom_sys_processor_archit

      if { ![info exists mom_sys_processor_archit] } {
         set pVal ""
         set env_vars [array get env]
         set idx [lsearch $env_vars "PROCESSOR_ARCHITE*"]
         if { $idx >= 0 } {
            set pVar [lindex $env_vars $idx]
            set pVal [lindex $env_vars [expr $idx + 1]]
         }
         set mom_sys_processor_archit $pVal
      }

      if { [string match "*64*" $mom_sys_processor_archit] } {

         PAUSE_win64 $args
  return
      }
   }



   set cam_aux_dir  [MOM_ask_env_var UGII_CAM_AUXILIARY_DIR]


   if { [string match "*windows*" $tcl_platform(platform)] } {
     set ug_wish "ugwish.exe"
   } else {
     set ug_wish ugwish
   }

   if { [file exists ${cam_aux_dir}$ug_wish] && [file exists ${cam_aux_dir}mom_pause.tcl] } {

      set title ""
      set msg ""

      if { [llength $args] == 1 } {
         set msg [lindex $args 0]
      }

      if { [llength $args] > 1 } {
         set title [lindex $args 0]
         set msg [lindex $args 1]
      }

      set res [exec ${cam_aux_dir}$ug_wish ${cam_aux_dir}mom_pause.tcl $title $msg]
      switch $res {
         no {
            set gPB(PB_disable_MOM_pause) 1
         }
         cancel {
            set gPB(PB_disable_MOM_pause) 1

            uplevel #0 {
               MOM_abort "*** User Abort Post Processing *** "
            }
         }
         default { return }
      }
   }
}


#=============================================================
proc STR_MATCH { VAR str {out_warn 0} } {
#=============================================================
# This command will match a variable with a given string.
#
# - Users can set the optional flag "out_warn" to "1" to produce
#   warning message when the variable is not defined in the scope
#   of the caller of this function.
#
   upvar $VAR var

   if { [info exists var] && [string match "$var" "$str"] } {
return 1
   } else {
      if { $out_warn } {
         CATCH_WARNING "Variable $VAR is not defined in \"[info level -1]\"!"
      }
return 0
   }
}


#=============================================================
proc TRACE {  } {
#=============================================================
   set start_idx 1

   set str ""
   set level [info level]
   for { set i $start_idx } { $i < $level } { incr i } {
      set str "${str}[lindex [info level $i] 0]\n"
   }

return $str
}


#=============================================================
proc UNSET_VARS { args } {
#=============================================================
# Inputs: List of variable names
#

   if { [llength $args] == 0 } {
return
   }

   foreach VAR $args {
      upvar $VAR var

      global tcl_version

      if { [array exists var] } {
         if { [expr $tcl_version < 8.4] } {
            foreach a [array names var] {
               if { [info exists var($a)] } {
                  unset var($a)
               }
            }
            unset var
         } else {
            array unset var
         }
      }

      if { [info exists var] } {
         unset var
      }
   }
}


#=============================================================
proc VMOV { n p1 p2 } {
#=============================================================
  upvar $p1 v1 ; upvar $p2 v2

   for { set i 0 } { $i < $n } { incr i } {
      set v2($i) $v1($i)
   }
}


#=============================================================
proc WORKPLANE_SET {  } {
#=============================================================
   global mom_cycle_spindle_axis
   global mom_sys_spindle_axis
   global traverse_axis1 traverse_axis2

   if { ![info exists mom_sys_spindle_axis] } {
      set mom_sys_spindle_axis(0) 0.0
      set mom_sys_spindle_axis(1) 0.0
      set mom_sys_spindle_axis(2) 1.0
   }

   if { ![info exists mom_cycle_spindle_axis] } {
      set x $mom_sys_spindle_axis(0)
      set y $mom_sys_spindle_axis(1)
      set z $mom_sys_spindle_axis(2)

      if { [EQ_is_zero $y] && [EQ_is_zero $z] } {
         set mom_cycle_spindle_axis 0
      } elseif { [EQ_is_zero $x] && [EQ_is_zero $z] } {
         set mom_cycle_spindle_axis 1
      } else {
         set mom_cycle_spindle_axis 2
      }
   }

   if { $mom_cycle_spindle_axis == 2 } {
      set traverse_axis1 0 ; set traverse_axis2 1
   } elseif { $mom_cycle_spindle_axis == 0 } {
      set traverse_axis1 1 ; set traverse_axis2 2
   } elseif { $mom_cycle_spindle_axis == 1 } {
      set traverse_axis1 0 ; set traverse_axis2 2
   }
}


#=============================================================
proc PB_load_alternate_unit_settings { } {
#=============================================================
   global mom_output_unit mom_kin_output_unit

  # Skip this function when output unit agrees with post unit.
   if { ![info exists mom_output_unit] } {
      set mom_output_unit $mom_kin_output_unit
return
   } elseif { ![string compare $mom_output_unit $mom_kin_output_unit] } {
return
   }


   global mom_event_handler_file_name

  # Set unit conversion factor
   if { ![string compare $mom_output_unit "MM"] } {
      set factor 25.4
   } else {
      set factor [expr 1/25.4]
   }

  # Define unit dependent variables list
   set unit_depen_var_list [list mom_kin_x_axis_limit mom_kin_y_axis_limit mom_kin_z_axis_limit \
                                 mom_kin_pivot_gauge_offset mom_kin_ind_to_dependent_head_x \
                                 mom_kin_ind_to_dependent_head_z]

   set unit_depen_arr_list [list mom_kin_4th_axis_center_offset \
                                 mom_kin_5th_axis_center_offset \
                                 mom_kin_machine_zero_offset \
                                 mom_kin_4th_axis_point \
                                 mom_kin_5th_axis_point \
                                 mom_sys_home_pos]

  # Load unit dependent variables
   foreach var $unit_depen_var_list {
      if { ![info exists $var] } {
         global $var
      }
      if { [info exists $var] } {
         set $var [expr [set $var] * $factor]
         MOM_reload_variable $var
      }
   }

   foreach var $unit_depen_arr_list {
      if { ![info exists $var] } {
         global $var
      }
      foreach item [array names $var] {
         if { [info exists ${var}($item)] } {
            set ${var}($item) [expr [set ${var}($item)] * $factor]
         }
      }

      MOM_reload_variable -a $var
   }


  # Source alternate unit post fragment
   uplevel #0 {
      global mom_sys_alt_unit_post_name
      set alter_unit_post_name \
          "[file join [file dirname $mom_event_handler_file_name] [file rootname $mom_sys_alt_unit_post_name]].tcl"

      if { [file exists $alter_unit_post_name] } {
         source "$alter_unit_post_name"
      }
      unset alter_unit_post_name
   }

   if { [llength [info commands PB_load_address_redefinition]] > 0 } {
      PB_load_address_redefinition
   }

   MOM_reload_kinematics
}


if [info exists mom_sys_start_of_program_flag] {
   if [llength [info commands PB_CMD_kin_start_of_program] ] {
      PB_CMD_kin_start_of_program
   }
} else {
   set mom_sys_head_change_init_program 1
   set mom_sys_start_of_program_flag 1
}