Possible bug in interpreter with rotary axis find_ends

[ArcEye]

Issue by dkhughes
Fri Dec 29 22:45:44 2017
Originally opened as machinekit/machinekit#1339

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This is kind of an edge case thing, but I found it digging through the interpreter files.

When the rs274 interpreter calculates the end point for a non-wrapped rotary axis in a G53 move, it does not include a tool offset value. For every other case, including the wrapped rotary condition, the tool offset is included.

A tool offset A, B, or C value seems strange, but if this type of tool offset is supported then I think the nonwrapped rotary case should be updated to include the angular tool offsets as well. Or, the wrapping case should be updated to ignore the angular tool offsets and be consistent.

Any thoughts? Does anyone know if this behavior is by design and what reason there would be for the disparity?

Here is a link to the code in question:

https://github.com/machinekit/machinekit/blob/master/src/emc/rs274ngc/interp_find.cc#L196