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      <title>Basic S&amp;V Commands - Description</title>
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      <div class="title_topic3" id="xps10_pagetitle">Basic S&amp;V Commands - Description</div>
      <hr noshade="true"><a name="motion"></a><div class="title_division">Motion Commands </div><a name="SIM_move_linear_axis"></a><div class="title_division">SIM_move_linear_axis</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_move_linear_axis &lt;duration&gt; &lt;axis&gt; &lt;value&gt; &lt;framework&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" height="46" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" height="46" rowspan="1">
               <p class="para_td">Moves the specified linear axis with specified value along its degree of freedom.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">duration: the time in seconds it takes to execute this command by the machine.</p>
               <p class="para_td">axis: name of the linear NC axis </p>
               <p class="para_td">value: axis position</p>
               <table border="1" cellpadding="2" cellspacing="1" align="center">
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                  <tbody>
                     <tr>
                        <td colspan="1" rowspan="1">
                           <p class="para_td">framework: This parameter can be omitted or be equal to MACHINE_ZERO.</p>
                        </td>
                     </tr>
                     <tr>
                        <td colspan="1" rowspan="1">
                           <p class="para_td">Initially the axis is assumed to be at its initial value with respect to the machine zero junction: Note  that you define the initial value in the axis dialog of the Machine Tool Builder.</p>
                           <p class="para_td">If framework is omitted then the specified axis value is interpreted as a delta value with respect to  the Initial value.</p>
                           <p class="para_td">MACHINE_ZERO means that the specified axis value refers to the machine zero junction</p>
                        </td>
                     </tr>
                  </tbody>
               </table><br></td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_move_linear_axis 10.5 X 50  MACHINE_ZERO</p>
            </td>
         </tr>
      </table><br><a name="SIM_move_rotary_axis"></a><div class="title_division">SIM_move_rotary_axis</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
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            <col align="left" span="1" width="53*">
            <col span="1" width="146*">
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            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_move_rotary_axis &lt;duration&gt; &lt;axis&gt; &lt;value&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" height="80" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" height="80" rowspan="1">
               <p class="para_td">Moves the specified rotary axis with specified value around its degree of freedom. The motion to the target position is done along the shortest distance.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">duration: the time in seconds it takes to execute this command by the machine.</p>
               <p class="para_td">axis: name of the actual rotary NC axis </p>
               <p class="para_td">value: axis position in degrees</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_move_rotary_axis 36.23 A 0.7</p>
            </td>
         </tr>
      </table><br><a name="mounting"></a><div class="title_division">Mounting Commands</div><a name="SIM_mount_kim_comp"></a><div class="title_division">SIM_mount_kim_comp</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
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            <col span="1" width="129*">
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            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_mount_kim_comp &lt;duration&gt; &lt;comp1&gt; &lt;jct1&gt; &lt;comp2&gt; &lt;jct2&gt; </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Mounts the specified component to the target component. The two specified junctions determine the orientation of the mounted component. The transformation that it takes to make jct1 coincide with jct2 is the transformation applied to comp1.</p>
               <p class="para_td">Comp1 and comp2 must be valid K-components. </p>
               <p class="para_td">If comp1 is already mounted on another component, it will first be unmounted from that component.</p>
               <p class="para_td">If comp2 is not specified, comp1 is mounted on the unmounted node of current kinematics model. </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">duration: the duration in seconds that it takes to mount comp1 to comp2.</p>
               <p class="para_td">comp1: the source K-component</p>
               <p class="para_td">jct1: the source junction</p>
               <p class="para_td">comp2: the target K-component</p>
               <p class="para_td">jct2: the target junction</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_mount_kim_comp 25 DEVICE_1 MNT1_JCT MACHINE_BASE1 BASE1_JCT </p>
            </td>
         </tr>
      </table><br><a name="SIM_unmount_kim_comp"></a><div class="title_division">SIM_unmount_kim_comp</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1">
            <col span="1">
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         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_unmount_kim_comp &lt;duration&gt; &lt;comp&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Unmounts the specified K-component from the current kinematics model. The unmounted component is added to its root node.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">duration: the duration in seconds that it takes to unmount component</p>
               <p class="para_td">comp: the component name</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_unmount_kim_comp 15 DEVICE_1</p>
            </td>
         </tr>
      </table><br><a name="SIM_mount_tool"></a><div class="title_division">SIM_mount_tool</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1">
            <col span="1">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_mount_tool &lt;duration&gt; &lt;tool_id_class&gt; &lt;tool_id&gt; &lt;comp&gt; &lt;jct&gt; </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Mounts the specified tool on a target component. The system looks for the tool assembly model in the resource tool library and creates a mounting junction and tool tip junction at their standard locations (see Genius4000 documentation for details). The tool is mounted on the comp such that the tool-mounting junction coincides with the component junction jct. If the system cannot find a tool assembly, it creates a solid assembly of the tool on the fly.</p>
               <p class="para_td">You can identify the tool in the following five ways according to the tool_id_class: </p>
               <p class="para_td">TOOL_NUMBER</p>
               <p class="para_td">LIBRARY_REF</p>
               <p class="para_td">CATALOG_NUMBER</p>
               <p class="para_td">UG_NAME</p>
               <p class="para_td">COMP_NAME</p>
               <p class="para_td">The tool_id is specified according to the specified tool_id_class. </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">duration: the duration in seconds that it takes to mount a tool on the machine</p>
               <p class="para_td">tool_id_class: the class by which the tool id is specified. See list of classes in description</p>
               <p class="para_td">tool_id: the tool id corresponding to the tool_id_class</p>
               <p class="para_td">comp: the target K-component name</p>
               <p class="para_td">jct: the target junction</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">The global TCL variable mom_sim_result returns the k-component name of the created tool.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_mount_tool 15 LIBRARY_REF UGT0201005 SPINDLE SPINDLE_JCT</p>
            </td>
         </tr>
      </table><br><a name="SIM_unmount_tool"></a><div class="title_division">SIM_unmount_tool</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1">
            <col span="1">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_unmount_tool &lt;duration&gt; &lt;tool_name&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Unmounts the specified tool name from the current KIM model. Note that tool name is the name of the K-component returned when the tool was mounted.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">duration: the duration in seconds that it takes to unmount a tool on the machine</p>
               <p class="para_td">tool_name: the K-component that represents the tool</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_unmount_tool 15 SIM_UGT0201005</p>
            </td>
         </tr>
      </table><br><a name="feedback"></a><div class="title_division">Feedback Commands</div><a name="SIM_feedback_message"></a><div class="title_division">SIM_feedback_message</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="76*">
            <col span="1" width="123*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_feedback_message &lt;label&gt; &lt;message&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Sends a message to the info window. The system also uses this command to communicate messages to dedicated processors. In this case, the label is used as a reserved keyword. The label cannot start with the $ sign unless it is used as a reserved keyword.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">label: a label name or a reserved keyword (when prefixed by $ sign) </p>
               <p class="para_td">message: the message</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_feedback_message &quot;DEBUG:&quot; &quot;Running test 1&quot;</p>
            </td>
         </tr>
      </table><br><a name="SIM_msg_user_feedback"></a><div class="title_division">SIM_msg_user_feedback</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="66*">
            <col span="1" width="133*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_msg_user_feedback &lt;proc&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Sends a message to the feedback processor to call the specified TCL procedure when the event is processed. The system appends all events created during the processing of the TCL procedure to the current NC channel. </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">proc: name of TCL procedure that exists in current TCL interpreter context.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_msg_user_feedback my_tcl_proc</p>
            </td>
         </tr>
      </table><br><a name="SIM_msg_nc_command"></a><div class="title_division">SIM_msg_nc_command</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="71*">
            <col span="1" width="128*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_msg_nc_command &lt;action&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Issues command messages mainly to the feedback processor to carry out the command message. </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">&nbsp;action: the actual G-code line.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_msg_nc_command N10 G90 G01 X100.0</p>
            </td>
         </tr>
      </table><br><a name="control"></a><div class="title_division">Control Commands</div><a name="SIM_update"></a><div class="title_division">SIM_update</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="66*">
            <col span="1" width="133*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_update &lt;label&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Creates a step event which indicates end of action (e.g., end of linear move or end of circular move). All (non-control) events prior to this event are executed simultaneously.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">label: an optional label to identify that step. Mainly used for debugging.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_update end_of_circle1</p>
            </td>
         </tr>
      </table><br><a name="SIM_step"></a><div class="title_division">SIM_step</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="63*">
            <col span="1" width="136*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_step &lt;label&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Creates a substep event which indicates the end of an intermediate action. For example, approximation segments of a circular motion are defined as such. Also, any intermediate interpolation segments of linear motion ends with substep event. All (non-control) events prior to this event are executed simultaneously.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">label: an optional label to identify that substep. Mainly used for debugging</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_step LINE_INTER</p>
            </td>
         </tr>
      </table><br><a name="SIM_normalize_rotary_axis"></a><div class="title_division">SIM_normalize_rotary_axis</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="59*">
            <col span="1" width="140*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_normalize_rotary_axis&lt;axis_name&gt;&lt;norm_type&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">This function normalizes the value of a rotary axis without physical rotation of the corresponding component(s).</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">axis_name: name of the axis as defined in the MTB application</p>
               <p class="para_td">norm_type: can be one of the following:</p>
               <ul class="unmarkedList">
                  <li>
                     <p class="para_item">NORM_180  ( -180 &lt; axis angle &lt;= 180 )  </p>
                  </li>
                  <li>
                     <p class="para_item">NORM_360  ( 0 &lt;= axis angle &lt; 360 )   </p>
                  </li>
               </ul>
               <p class="para_td">The norm_type can be omitted, the default is NORM_360</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">None</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Assuming the axis is called <b class="literalText">C</b> and its current internal value is 700 degrees:
               </p>
               <p class="para_td">The following call normalizes the internal value to 340 degrees:</p><pre class="indent">SIM_normalize_rotary_axis C NORM_360</pre><p class="para_td">The following call normalizes the internal value to &ndash;20 degrees:</p><pre class="indent">SIM_normalize_rotary_axis C NORM_180</pre></td>
         </tr>
      </table><br><a name="SIM_set_status_send_nc_command_msg"></a><div class="title_division">SIM_set_status_send_nc_command_msg</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="66*">
            <col span="1" width="133*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_set_status_send_nc_command_msg &lt;OnOff&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Sets the status for sending NC command messages to the feedback processor. By default it is issued automatically by the system.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">OnOff: logical to switch the setting on or off</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_set_status_send_nc_command_msg true</p>
            </td>
         </tr>
      </table><br><a name="SIM_set_immediate_update"></a><div class="title_division">SIM_set_immediate_update</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="58*">
            <col span="1" width="141*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_set_immediate_update &lt;YesNo&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Sets whether the processing of the events that are put in the input buffer is done right away or at a later point. By default, this mode is controlled by the simulation engine and should be used very carefully. When this is set to true, some of the simulation functions such as simulation speed control and stepping criteria control may not function as you expect. Use this command when you need to process events as they are created with no delay for buffering. When this is on, the system processes all events immediately on each call to SIM_update. </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">YesNo: switch to set the status</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
      </table><br><a name="query"></a><div class="title_division">Query Commands</div><a name="SIM_ask_axis_limits"></a><div class="title_division">SIM_ask_axis_limits</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="58*">
            <col span="1" width="141*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_ask_axis_limits &lt;axis&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" height="19" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" height="19" rowspan="1">
               <p class="para_td">Returns the limits of the specified NC axis.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">axis: the name of the axis in the kinematics model</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">The maximum limit is returned in mom_sim_result, and mom_sim_result1 contains the minimum value. </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_ask_axis_limits linear1</p>
               <p class="para_td">set max_limit $mom_sim_result</p>
               <p class="para_td">set min_limit $mom_sim_result1</p>
            </td>
         </tr>
      </table><br><a name="SIM_ask_axis_of_component"></a><div class="title_division">SIM_ask_axis_of_component</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="59*">
            <col span="1" width="140*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_ask_axis_of_component&lt;comp_name&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Returns the name and the type of the axis defined in the specified component. If no axis is defined _NONE is returned.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">comp_name: name of the component</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">mom_sim_result: the name of the axis or _NONE.</p>
               <p class="para_td">mom_sim_result1: The type of the axis. This can be either LINEAR  or ROTARY</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1"><pre class="indent">global mom_sim_result
global mom_sim_result1
SIM_ask_axis_of_component $comp_name
if {[string compare $mom_sim_result &ldquo;_NONE&rdquo;]!=0}
{
     set axis_name $mom_sim_result
     set axis_type $mom_sim_result1
} </pre></td>
         </tr>
      </table><br><a name="SIM_ask_axis_rotary_dir_mode"></a><div class="title_division">SIM_ask_axis_rotary_dir_mode</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col span="1" width="57*">
            <col span="1" width="142*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_ask_axis_rotary_dir_mode &lt;axis&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Returns the direction of rotation mode for the specified NC axis that was set by SIM_set_axis_rotary_dir_mode command. The return variable mom_sim_result has one of the following values:</p>
               <p class="para_td">MAGNITUDE_DETERMINES_DIRECTION - the rotary axis behaves like a linear axis. If the target position is greater than zero, it rotates in the counterclockwise direction; if it is less than zero, it rotates clockwise. For example, if the current position is 355 and the target position is 370, the rotary axis rotates counterclockwise 15 degrees. If the target position is 10, it rotates clockwise 345 degrees.</p>
               <p class="para_td">ALWAYS_SHORTEST - moves to the target position using the shortest possible path. This is the default behaviour.</p>
               <p class="para_td">SIGN_DETERMINES_DIRECTION - for positive target position, the axis rotates counterclockwise. If negative, it rotates clockwise.</p>
               <p class="para_td">ALWAYS_CLW - rotates in clockwise direction only.</p>
               <p class="para_td">ALWAYS_CCLW - rotates in counterclockwise direction only.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">axis: the name of the axis in the kinematics model</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">The direction mode is returned in mom_sim_result variable.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_ask_axis_rotary_dir_mode angular2</p>
               <p class="para_td">set dir_mode $mom_sim_result</p>
            </td>
         </tr>
      </table><br><a name="SIM_ask_axis_position"></a><div class="title_division">SIM_ask_axis_position</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="59*">
            <col span="1" width="140*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_ask_axis_position &lt;axis&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Returns the current axis position. Axis can be linear or rotational. The current position is the position of the axis after all input events prior to this event have been processed. Coordinates are returned in axis coordinates.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">axis: name of axis</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">The TCL variable mom_sim_result is set with the current axis position. For a rotary axis, output is returned in radians.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_ask_axis_position X</p>
               <p class="para_td">set x_position $mom_sim_result </p>
            </td>
         </tr>
      </table><br><a name="SIM_ask_axis_initial_value"></a><div class="title_division">SIM_ask_axis_initial_value</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="59*">
            <col span="1" width="140*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_ask_axis_initial_value &lt;axis&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Returns the initial value of the axis. This value was defined in the axis dialog of the Machine Tool  Builder.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">axis: name of axis</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">The TCL variable mom_sim_result is set with the initial value.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1"><pre class="indent">Global mom_sim_result
SIM_ask_axis_initial_value X
set x_init_val $mom_sim_result</pre></td>
         </tr>
      </table><br><a name="SIM_ask_immediate_update"></a><div class="title_division">SIM_ask_immediate_update</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="58*">
            <col span="1" width="141*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_ask_immediate_update</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Returns whether the system processes events in the input buffer right away or at a later point. By default, this mode is controlled by the simulation engine and should be used very carefully. When this is set to true, some of the simulation functions such as simulation speed control and stepping criteria control may not function as you expect. Use this command when you need to process events as they are created with no delay for buffering. When this is on, all events will be immediately processed with each call to SIM_update.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">The TCL variable mom_sim_result is set to 0 (default - events are buffered first) or 1 (events are processed on SIM_update)</p>
            </td>
         </tr>
      </table><br><a name="SIM_ask_comp_from_dof"></a><div class="title_division">SIM_ask_comp_from_dof</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="49*">
            <col span="1" width="150*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_ask_comp_from_dof&nbsp; &lt;degof&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Returns the name of the kinematics component to which the given degree of freedom is assigned.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">degof: the name of the degree of freedom in the kinematics model</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">The name of the component is returned in the variable mom_sim_result.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_ask_comp_from_dof X</p>
               <p class="para_td">set component $mom_sim_result</p>
            </td>
         </tr>
      </table><br><a name="SIM_ask_is_junction_dependent"></a><div class="title_division">SIM_ask_is_junction_dependent</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="64*">
            <col span="1" width="135*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_ask_is_junction_dependent &lt;jct_name&gt; &lt;axis_name&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Checks whether the specified junction is dependent on the specified NC axis.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">jct_name: the name of the junction in the kinematics model. </p>
               <p class="para_td">nc_axis_name: the NC axis name</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Returns mom_sim_result as 1 if NC axis is dependent or 0 if not.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">set dependent [SIM_ask_is_junction_dependent TOOL_MOUNT X]</p>
            </td>
         </tr>
      </table><br><a name="SIM_ask_is_junction_exist"></a><div class="title_division">SIM_ask_is_junction_exist</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="57*">
            <col span="1" width="142*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_ask_is_junction_exist &lt;jct_name&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Returns whether the specified junction exists or not.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">jct_name: the name of the junction. </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">The TCL variable mom_sim_result is set to 1 if junction exists or 0 if not.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_ask_is_junction_exist WORK_ZCS</p>
               <p class="para_td">If {$mom_sim_result == 0} {</p>
               <p class="para_td">&nbsp;&nbsp; issue an error ...</p>
               <p class="para_td">}</p>
            </td>
         </tr>
      </table><br><a name="SIM_ask_junction_xform"></a><div class="title_division">SIM_ask_junction_xform</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="55*">
            <col span="1" width="144*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_ask_junction_xform &lt;jct_name&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Returns the transformation of the specified junction. The first three arguments returned are the offset and the remainder is the transformation. This transformation transforms from the ACS coordinate system to the junction coordinate system. This is consistent with the MSYS.</p>
               <p class="para_td">The transformation returned is of the current state of the junction after all events in the input buffer have been processed.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">jct_name: the name of the junction. </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">The rotation transformation (M00 M01 M02 ...) is returned in the mom_sim_result TCL variable. The translation vector(V0 V1 V2) is returned in the mom_sim_result1 variable.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">In the following example the position defined with respect to the wrk_jct junction is transformed to the ACS coordinate system:</p>
               <p class="para_td">SIM_ask_junction_xform $wrk_jct #get transformation</p>
               <p class="para_td">set xfm_to_acs [MatInvertL $mom_sim_result] #invert matrix to get transformation from junction to ACS</p>
               <p class="para_td">set acs_position [MatMultVectorL $xfm_to_acs $position] #transform vector</p>
               <p class="para_td">set acs_position [VAddL $acs_position $mom_sim_result1] #translate vector</p>
            </td>
         </tr>
      </table><br><a name="SIM_ask_init_junction_xform"></a><div class="title_division">SIM_ask_init_junction_xform</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="54*">
            <col span="1" width="145*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_ask_init_junction_xform &lt;jct_name&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Returns the transformation of the specified junction. The first three arguments returned are the offset and the remainder is the transformation. This transformation transforms from the ACS coordinate system to the junction coordinate system. This is consistent with the MSYS.</p>
               <p class="para_td">The transformation returned is of the initial state of the junction before simulation is started. </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">jct_name: the name of the junction. </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">The TCL variable mom_sim_result returns the rotation transformation (M00 M01 M02 ...). The variable mom_sim_result1 returns the translation vector (V0 V1 V2).</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">In the following example the position defined with respect to the wrk_jct junction is transformed to ACS coordinate system:</p>
               <p class="para_td">SIM_ask_junction_xform $wrk_jct #get transformation</p>
               <p class="para_td">set xfm_to_acs [MatInvertL $mom_sim_result] #invert matrix to get transformation from junction to ACS</p>
               <p class="para_td">set acs_position [MatMultVectorL $xfm_to_acs $position] #transform vector</p>
               <p class="para_td">set acs_position [VAddL $acs_position $mom_sim_result1] #translate vector</p>
            </td>
         </tr>
      </table><br><a name="SIM_ask_kim_comp_name_by_id"></a><div class="title_division">SIM_ask_kim_comp_name_by_id </div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="61*">
            <col span="1" width="138*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_ask_kim_comp_name_by_id &lt;class&gt; &lt;id&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Returns the k-component name that belongs to the specified class with the specified id. Currently only the TOOL class is allowed.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">class: class name</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">The name of component is returned in the mom_sim_result variable.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_ask_kim_comp_name_by_id &quot;TOOL&quot; $tool_ug_name</p>
               <p class="para_td">set t_name $mom_sim_result</p>
               <p class="para_td">SIM_unmount_tool &quot;2.0&quot; $t_name </p>
            </td>
         </tr>
      </table><br><a name="SIM_ask_machine_base_component"></a><div class="title_division">SIM_ask_machine_base_component</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="59*">
            <col span="1" width="140*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_ask_machine_base_component </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Returns the machine base component</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">The name of the machine base component is written to the global variable mom_sim_result. If the value is _NONE then no machine base component exists.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Global mom_sim_result  </p>
               <p class="para_td">SIM_ask_machine_base_component </p>
               <p class="para_td">set base_component_name $mom_sim_result</p>
            </td>
         </tr>
      </table><br><a name="SIM_ask_mtcs_junction"></a><div class="title_division">SIM_ask_mtcs_junction </div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="59*">
            <col span="1" width="140*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_ask_mtcs_junction </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Returns the name of the junction of the machine tool coordinate system (MTCS).</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">The variable mom_sim_result returns the name of the MTCS junction. </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_ask_mtcs_junction</p>
               <p class="para_td">set wrk_jct $mom_sim_result</p>
            </td>
         </tr>
      </table><br><a name="SIM_ask_axis_dof_junction"></a><div class="title_division">SIM_ask_axis_dof_junction</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="69*">
            <col span="1" width="130*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_ask_axis_dof_junction &lt;axis&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Returns the name of the junction that the NC axis is referencing for the definition of the axis degree of freedom (DOF). </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">axis: name of the axis</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">The junction name is returned in the mom_sim_result variable.</p>
               <p class="para_td">The axis direction of the DOF is returned in mom_sim_result1 variable when the:</p>
               <p class="para_td">direction of x positive is 1</p>
               <p class="para_td">direction of y positive is 2</p>
               <p class="para_td">direction of z positive is 3</p>
               <p class="para_td">direction of x negative is -1</p>
               <p class="para_td">direction of y negative is -2</p>
               <p class="para_td">direction of z negative is -3</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_ask_axis_dof_junction $axis</p>
               <p class="para_td">set axis_jct $mom_sim_result</p>
               <p class="para_td">set axis_num $mom_sim_result1</p>
            </td>
         </tr>
      </table><br><a name="SIM_ask_tool_offsets"></a><div class="title_division">SIM_ask_tool_offsets</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="61*">
            <col span="1" width="138*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_ask_tool_offsets &lt;tool_name&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Returns the tool offsets. The offsets in X, Y and Z define the vector from the origin of the tool mounting junction to the origin of the tool tip with respect to the absolute coordinate system (ACS). </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">tool_name: the K-component name of the tool</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">The list of tool offsets (in x,y, and z) are returned in the mom_sim_result variable.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">set offsets [SIM_ask_tool_offsets $tool_name]</p>
            </td>
         </tr>
      </table><br><a name="SIM_ask_zcs_comp_name"></a><div class="title_division">SIM_ask_zcs_comp_name</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="59*">
            <col span="1" width="140*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_ask_zcs_comp_name </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Returns the name of the ZCS component </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">the name of the ZCS component </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1"><pre class="indent">Global mom_sim_zcs_base
set mom_sim_zcs_base [SIM_ask_zcs_comp_name]</pre></td>
         </tr>
      </table><br><a name="SIM_ask_base_device_of_comp"></a><div class="title_division">SIM_ask_base_device_of_comp</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="59*">
            <col span="1" width="140*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" height="46" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" height="46" rowspan="1">
               <p class="para_td">SIM_ask_base_device_of_comp &lt;comp_name&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Returns the name and ID of the top-level parent component. The top level parent component is classified _DEVICE.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">comp_name - name of the component whose top-level parent you are searching for</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">the name of the top&ndash;level parent device, or _NONE if it doesn&rsquo;t exist</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1"><pre class="indent">global mom_sim_result
global mom_sim_result1
SIM_ask_base_device_of_comp POCKET_1
If { $mom_sim_result != &ldquo;_NONE&rdquo;} \
{
    set turret    $mom_sim_result
    set turret_ID $mom_sim_result1
}</pre></td>
         </tr>
      </table><br><a name="SIM_ask_base_device_holder_of_comp"></a><div class="title_division">SIM_ask_base_device_holder_of_comp</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="59*">
            <col span="1" width="140*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" height="46" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" height="46" rowspan="1">
               <p class="para_td">SIM_ask_base_device_holder_of_comp &lt;comp_name&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Returns the name and ID of the top-level parent device holder. The top level parent component is classified _DEVICE_HOLDER.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">comp_name - name of the component whose top-level device holder parent you are searching for</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">the name of the top&ndash;level parent device holder, or _NONE if it doesn&rsquo;t exist</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1"><pre class="indent">global mom_sim_result
Global mom_sim_result1
SIM_ask_base_device_of_comp POCKET_1
If { $mom_sim_result != &ldquo;_NONE&rdquo;} \
{
    set base_pocket_name $mom_sim_result
    set base_pocket_id   $mom_sim_result1
}</pre></td>
         </tr>
      </table><br><a name="SIM_ask_cording_tol"></a><div class="title_division">SIM_ask_cording_tol</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="61*">
            <col span="1" width="138*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_ask_cording_tol </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Returns the tolerance used for linear approximation of circular and splinar motions.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">The cording tolerance is returned in mom_sim_result variable.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">set tol [SIM_ask_cording_tol]</p>
            </td>
         </tr>
      </table><br><a name="SIM_ask_head_pivot_jct_full_name"></a><div class="title_division">SIM_ask_head_pivot_jct_full_name</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="59*">
            <col span="1" width="140*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_ask_head_pivot_jct_full_name </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Finds the name of the most independent rotary junction if there is more than one junction. If the optional argument is <b class="literalText">d</b>, it finds the name of the rotary junction that is closest to the tool.
               </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">d &ndash; optional</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">The full name of the junction.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1"><pre class="indent">Global mom_sim_pivot_jct
set mom_sim_pivot_jct [ SIM_ask_head_pivot_jct_full_name]
 </pre><p class="para_td">or</p><pre class="indent">set mom_sim_pivot_jct [ SIM_ask_head_pivot_jct_full_name d]</pre></td>
         </tr>
      </table><br><a name="SIM_ask_holding_systems_of_pocket"></a><div class="title_division">SIM_ask_holding_systems_of_pocket</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="59*">
            <col span="1" width="140*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td"> SIM_ask_holding_systems_of_pocket&lt;pocket_name&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Returns all the tool holding systems defined for the specified pocket. pocket_name must identify a component of the _DEVICE_HOLDERsystem class otherwise an error will occur.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">pocket_name: name of the pocket component</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">mom_sim_result  -   List of holding systems. _NONE means there is no holding system defined.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1"><pre class="indent">global mom_sim_result
SIM_ask_holding_systems_of_pocket $comp_name
if{[string compare $mom_sim_result &rdquo;_None&rdquo;]!=0}\
{
     foreach holding_system $mom_sim_result \
     {
          check_holding_system  $holding_system
     }
}</pre></td>
         </tr>
      </table><br><a name="SIM_ask_id_of_component"></a><div class="title_division">SIM_ask_id_of_component</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="59*">
            <col span="1" width="140*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_ask_id_of_component&lt;comp_name&gt; </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Returns the ID of the component. Currently IDs can be defined in the MTB application only for devices and device holders. If no ID is defined _NONE is returned.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">comp_name: name of the component.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">mom_sim_result: the ID of the component or _NONE.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1"><pre class="indent">global mom_sim_result
SIM_ask_id_of_component $comp_name
if {[string compare $mom_sim_result &ldquo;_NONE&rdquo;]!=0}
{
     set comp_id  $mom_sim_result
}</pre></td>
         </tr>
      </table><br><a name="SIM_ask_mtd_units"></a><div class="title_division">SIM_ask_mtd_units</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="56*">
            <col span="1" width="143*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_ask_mtd_units </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Returns the units of the machine tool driver. The interface to and from S&amp;V commands is with those units.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">The units &quot;MM&quot; or &quot;INCH&quot; is returned in mom_sim_result variable.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">set units [SIM_ask_mtd_units]</p>
            </td>
         </tr>
      </table><br><a name="SIM_ask_axis_is_reversal_allowed"></a><div class="title_division">SIM_ask_axis_is_reversal_allowed</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="56*">
            <col span="1" width="143*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_ask_axis_is_reversal_allowed &lt;axis&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Returns whether the axis can rotate in the reversed direction to reach position in those cases where it cannot move along the shortest path. </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">&nbsp;axis: the name of the axis in the kinematics model</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">return mom_sim_result with 0 (reversal not allowed) or 1 (allowed)</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">set allowed [SIM_ask_axis_is_reversal_allowed X]</p>
            </td>
         </tr>
      </table><br><a name="SIM_ask_nc_axes_of_mtool"></a><div class="title_division">SIM_ask_nc_axes_of_mtool</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="65*">
            <col span="1" width="134*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_ask_nc_axes_of mtool</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Returns the number and names of the NC axes of the machine tool component found in the kinematics model.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">The number of axes is returned in the variable mom_sim_result. The list of axis names is returned in the variable mom_sim_result1.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_ask_nc_axes_of_mtool</p>
               <p class="para_td">set number_of_axes $mom_sim_result</p>
               <p class="para_td">set axis_name_list $mom_sim_result1</p>
            </td>
         </tr>
      </table><br><a name="SIM_ask_nc_axis_name"></a><div class="title_division">SIM_ask_nc_axis_name</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="59*">
            <col span="1" width="140*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_ask_nc_axis_name </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Returns the name of the corresponding nc axis.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td"><b class="literalText">X</b>, <b class="literalText">Y</b>, <b class="literalText">Z</b>, <b class="literalText">4th</b> or <b class="literalText">5th</b></p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">the name of the NC axis</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1"><pre class="indent">global mom_sim_mt_axis
set mom_sim_mt_axis(X) [SIM_ask_nc_axis_name X]
set mom_sim_mt_axis(Y) [SIM_ask_nc_axis_name Y]
set mom_sim_mt_axis(Z) [SIM_ask_nc_axis_name Z]
set mom_sim_mt_axis(4) [SIM_ask_nc_axis_name 4th]
set mom_sim_mt_axis(5) [SIM_ask_nc_axis_name 5th]
</pre></td>
         </tr>
      </table><br><a name="SIM_ask_nth_child_component"></a><div class="title_division">SIM_ask_nth_child_component</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="59*">
            <col span="1" width="140*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_ask_nth_child_component&lt;parent_comp&gt;&lt;n&gt; </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Returns the name of the <em>n</em>th child component of the specified parent component.
               </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">parent_comp: name of the parent component</p>
               <p class="para_td">n: index of the desired child component</p>
               <p class="para_td">0 &lt;= n &lt; number of child components</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">mom_sim_result: the name of the nth child component</p>
               <p class="para_td">mom_sim_result1: the ID of the nth child component. Currently, you can define IDs in the MTB application only for devices (for example, turrets) and device holders (such as tool pockets). _NONE means that no ID was defined</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1"><pre class="indent">global mom_sim_result
SIM_ask_number_of_child_components $parent_comp_name
set num_child_comps $mom_sim_result

for
{
     SIM_ask_nth_child_component $parent_comp_name $index
     set child_comp_name $mom_sim_result
     do_something_with_comp $child_comp_name
}</pre></td>
         </tr>
      </table><br><a name="SIM_ask_nth_junction"></a><div class="title_division">SIM_ask_nth_junction</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="59*">
            <col span="1" width="140*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_ask_nth_junction&lt;comp_name&gt;&lt;n&gt; </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Returns the full component name of the nth junction of the specified component. </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Comp_name: name of the component</p>
               <p class="para_td"> N: index of the desired junction  0 &lt;= n &lt; number of junctions </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">The full name of the nth junction is written to the global variable mom_sim_result. Component name and actual junction name are separated by @, as follows:</p>
               <p class="para_td">&lt;comp_name@&lt;junction_name&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1"><pre class="indent">global mom_sim_result
SIM_ask_number_of_junctions $comp_name
set num_junctions $mom_sim_result
for {set index 0} {$index&lt;$num_junctions} {incr index} \
{
     SIM_ask_nth_junction $comp_name $index
     set junction_name $mom_sim_result
     do_something_with_junction $junction_name
} </pre></td>
         </tr>
      </table><br><a name="SIM_ask_number_of_child_components"></a><div class="title_division">SIM_ask_number_of_child_components</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="59*">
            <col span="1" width="140*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_ask_number_of_child_components &lt;parent_comp&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Returns the number of child components of the specified parent component.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" height="23" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" height="23" rowspan="1">
               <p class="para_td">parent_comp: name of the parent component</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">The number of child components is written to the global variable mom_sim_result.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Global mom_sim_result  </p>
               <p class="para_td">SIM_ask_machine_base_component </p>
               <p class="para_td">set base_comp_name $mom_sim_result  </p>
               <p class="para_td">SIM_ask_number_of_child_components $base_comp_name set </p>
               <p class="para_td">num_child_comps $mom_sim_result</p>
            </td>
         </tr>
      </table><br><a name="SIM_ask_number_of_junctions"></a><div class="title_division">SIM_ask_number_of_junctions</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="59*">
            <col span="1" width="140*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td"> SIM_ask_number_of_junctions&lt;comp_name&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Returns the number of junctions defined in the specified component</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">comp_name: Name of the component</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">The number of junctions is written to the global variable mom_sim_result.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1"><pre class="indent">global mom_sim_result
SIM_ask_number_of_junctions $comp_name
set num_junctions $mom_sim_result </pre></td>
         </tr>
      </table><br><a name="SIM_ask_number_of_channels"></a><div class="title_division">SIM_ask_number_of_channels</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="59*">
            <col span="1" width="140*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td"> SIM_ask_number_of_channels</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Returns the number of channels defined for the machine.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">None</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">The number of channels is written to the global variable mom_sim_result.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1"><pre class="indent">global mom_sim_result

SIM_ask_number_of_channels
set num_channels $mom_sim_result
</pre></td>
         </tr>
      </table><br><a name="SIM_ask_nth_channel"></a><div class="title_division">SIM_ask_nth_channel</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="59*">
            <col span="1" width="140*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td"> SIM_ask_nth_channel &lt;n&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Returns ID of the nth channel  of the machine.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">n: Index of the desired channel</p>
               <p class="para_td">0 &lt;= n &lt; number of channels</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">The ID of the channel is written to the global variable mom_sim_result.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1"><pre class="indent">global mom_sim_result 
SIM_ask_number_of_channels
set num_channels $mom_sim_result

for {set index 0} {$index&lt;$num_channels} {incr index} \
{
       SIM_ask_nth_channel  $index
       set channel_id $mom_sim_result
       do_something_with_channel $channel_id
}
</pre></td>
         </tr>
      </table><br><a name="SIM_ask_number_of_channels_at_component"></a><div class="title_division">SIM_ask_number_of_channels_at_component</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="59*">
            <col span="1" width="139*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_ask_number_of_channels_at_component &lt;component_name&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Returns the number of channels which can control the specified component.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">component_name: Name of the component.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">The number of channels is written to the global variable mom_sim_result..</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1"><pre class="indent">global mom_sim_result

SIM_ask_number_of_channels_at_component
set num_channels $mom_sim_result
</pre></td>
         </tr>
      </table><br><a name="SIM_ask_nth_channel_at_component"></a><div class="title_division">SIM_ask_nth_channel_at_component</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="59*">
            <col span="1" width="139*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_ask_nth_channel_at_component &lt;component_name&gt;&lt;n&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Returns ID of the nth channel which controls the specified component.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">component_name: Name of the component.</p>
               <p class="para_td">n: Index of the desired channel</p>
               <p class="para_td">0 &lt;= n &lt; number of channels</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">The ID of the channel is written to the global variable mom_sim_result.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1"><pre class="indent">global mom_sim_result 
SIM_ask_number_of_channels 
set num_channels $mom_sim_result

for {set index 0} {$index&lt;$num_channels} {incr index} \
{
       SIM_ask_nth_channel_at_comonent  $index
       set channel_id $mom_sim_result
       do_something_with_channel $channel_id
}
</pre></td>
         </tr>
      </table><br><a name="SIM_ask_status_send_nc_command_msg"></a><div class="title_division">SIM_ask_status_send_nc_command_msg</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="61*">
            <col span="1" width="138*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_ask_status_send_nc_command_msg</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Returns the status of send NC command message; AUTO or USER </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">The status is returned in mom_sim_result variable.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_ask_status_send_nc_command_msg</p>
               <p class="para_td">set status $mom_sim_result</p>
            </td>
         </tr>
      </table><br><a name="SIM_ask_tool_mount_comp_name"></a><div class="title_division">SIM_ask_tool_mount_comp_name</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="59*">
            <col span="1" width="140*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_ask_tool_mount_comp_name</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Returns the name of the component with the junction classified as the <b class="literalText">Tool Mount</b>.
               </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">None</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">The component name</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1"><pre class="indent">Global mom_sim_spindle_comp
set mom_sim_spindle_comp [SIM_ask_tool_mount_comp_name] </pre></td>
         </tr>
      </table><br><a name="SIM_ask_tool_mount_jct_name"></a><div class="title_division">SIM_ask_tool_mount_jct_name</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="59*">
            <col span="1" width="140*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_ask_tool_mount_jct_name </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Returns the name of the junction classified as the <b class="literalText">Tool Mount</b>.
               </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
               <p class="para_th">None</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">None</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">The junction name.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1"><pre class="indent">Global mom_sim_spindle_jct
set mom_sim_spindle_jct [SIM_ask_tool_mount_jct_name]
</pre></td>
         </tr>
      </table><br><a name="SIM_find_comp_by_name"></a><div class="title_division">SIM_find_comp_by_name</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="59*">
            <col span="1" width="140*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_find_comp_by_name &lt;start_comp&gt; &lt;search_comp&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Returns true if the given component name is found in the kinematics tree hierarchy. </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">start_comp: the name of the start component from which the search starts in the kinematics model</p>
               <p class="para_td">search_comp: the name of component for which you want to search</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Returns mom_sim_result as 1 (if found) or 0 &nbsp;(if not).</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_find_comp_by_name</p>
               <p class="para_td">set is_found $mom_sim_result</p>
            </td>
         </tr>
      </table><br><a name="SIM_is_component_of_user_class"></a><div class="title_division">SIM_is_component_of_user_class</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="59*">
            <col span="1" width="140*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_is_component_of_user_class &lt;comp_name&gt;&lt;user_class_name&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Returns whether the component is classified within the specified user class.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">comp_name: name of the component</p>
               <p class="para_td">user_class_name: string previously defined in the Machine Tool Builder applicatio indicating user class specification.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">mom_sim_result</p>
               <p class="para_td">0 &ndash; component is not classified with the specified user class </p>
               <p class="para_td">1 &ndash; component is classified with the specified user class</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1"><pre class="indent">global mom_sim_result
SIM_is_component_of_user_class $comp_name Chuck
if { $mom_sim_result == 1 }
{      
       # Component is a chuck
       do_some_chuck_related_stuff $comp_name
}
</pre></td>
         </tr>
      </table><br><a name="SIM_is_component_of_system_class"></a><div class="title_division">SIM_is_component_of_system_class</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="59*">
            <col span="1" width="140*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_is_component_of_system_class \ &lt;comp_name&gt;&lt;system_class_name&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Returns whether or not the component is classified within the specified system class.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">comp_name: name of the component</p>
               <p class="para_td">system_class_name: system class specification. Must be one of the following:</p>
               <ul class="unmarkedList">
                  <li>
                     <p class="para_item">_MACHINE_BASE</p>
                     <p class="para_item">_DEVICE</p>
                     <p class="para_item">_DEVICE_HOLDER</p>
                     <p class="para_item">_DEVICE_HOLDER_ON_HEAD</p>
                     <p class="para_item">_PART</p>
                     <p class="para_item">_WORKPIECE</p>
                     <p class="para_item">_SETUP_ELEMENT</p>
                     <p class="para_item">_LATHE_SPINDLE</p>
                     <p class="para_item"> _TOOL</p>
                  </li>
               </ul>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">mom_sim_result</p>
               <p class="para_td">0 &ndash; component is not classified within the specified system class</p>
               <p class="para_td">1 &ndash; component is classified within the specified system class</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1"><pre class="indent">global mom_sim_result
SIM_is_component_of_system_class $comp_name _DEVICE
if {$mom_sim_result == 1}
{
     #Component is a device
     do_some_device_related_stuff$comp_name
}</pre></td>
         </tr>
      </table><br><a name="SIM_is_junction_of_system_class"></a><div class="title_division">SIM_is_junction_of_system_class</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="59*">
            <col span="1" width="140*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_is_junction_of_system_class &lt;junction_name&gt;&lt;system_class_name&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Returns whether the junction is classified with the specified system class</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">junction_name: name of the  junction. This can be the full junction name (&lt;comp_name&gt; @&lt;junction_name&gt;) or just the simple junction name. In the latter case, the simple junction name should be unique throughout the model.</p>
               <p class="para_td">system_class_name	system class specification. This must be one of   the following:</p>
               <ul class="unmarkedList">
                  <li>
                     <p class="para_item"> _MACHINE_ZERO</p>
                  </li>
                  <li>
                     <p class="para_item">_TOOL_MOUNT  (NX4 only)</p>
                  </li>
                  <li>
                     <p class="para_item"> _TOOL_ZERO</p>
                  </li>
                  <li>
                     <p class="para_item">_TOOL_TIP</p>
                  </li>
                  <li>
                     <p class="para_item">_LATHE_WORK_PLANE_Z_X</p>
                  </li>
                  <li>
                     <p class="para_item">_LATHE_WORK_PLANE_X_Y</p>
                  </li>
               </ul>
               <table border="0">
                  <tr>
                     <td valign="top" align="left"><img align="left" src="../graphics/note.gif" alt="Note" title="Note"></td>
                     <td valign="bottom" align="left" width="100%">
                        <div class="para_note">
                           <p class="para_note_body">_TOOL_MOUNT means the mounting junction for a tool on the machine side on the milling spindle, whereas _TOOL_ZERO identifies the corresponding mounting junction on the tool side.</p>
                        </div>
                     </td>
                  </tr>
               </table>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">mom_sim_result. </p>
               <p class="para_td">0 &ndash; junction is not classified with the specified system class  </p>
               <p class="para_td">1 &ndash; junction is classified with the specified system class </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1"><pre class="indent">global mom_sim_result
#
# Example determines the tool tip junction within a
# given tool component and makes it the current reference junction
#
SIM_ask_number_of_junctions $tool_comp_name
set num_junctions $mom_sim_result
for {set index 0} {$index&lt;$num_junctions} {incr index} \
{
     SIM_ask_nth_junction $tool_comp_name $index
     set junction_name $mom_sim_result
     SIM_is_junction_of_system_class $junction_name _TOOL_TIP
     if { $mom_sim_result == 1 }
     {
          SIM_set_current_ref_junction $junction_name
          break
     }
} </pre></td>
         </tr>
      </table><br><a name="miscellaneous"></a><div class="title_division">Miscellaneous Commands</div><a name="SIM_set_parameter"></a><div class="title_division">SIM_set_parameter</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="58*">
            <col span="1" width="141*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_set_parameter &lt;duration&gt; &lt;label&gt; &lt;text&gt; &lt;unit&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Sets a simulation engine parameter so that the processor can make use of it or the MTD can track it. </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">duration: the time in seconds it takes the machine to execute this command</p>
               <p class="para_td">label: label identifier for the parameter</p>
               <p class="para_td">text: value of parameter</p>
               <p class="para_td">unit: the units of the parameter value. The supported units are: MM,INCH, SEC, MM_PER_MIN, REV_PER_MIN, INCH_PER_MIN, M_PER_SEC_POW2, MM_PER_REV, INCH_PER_REV and MM_PER_100REV</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_set_parameter 0 feed 1000 MM_PER_MIN</p>
            </td>
         </tr>
      </table><br><a name="SIM_mtd_init"></a><div class="title_division">SIM_mtd_init</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col span="1" width="58*">
            <col span="1" width="141*">
         </colgroup>
         <tr valign="top">
            <th align="left" colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_mtd_init &lt;mode&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th align="left" colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Initializes machine tool driver and sets it to one of the three MTD modes. The supported modes are:</p>
               <p class="para_td">NC_CONTROLLER_SIM_EVENT_HANDLER - the simulation event mode where simulation events are generated and processed to execute the simulation tasks. </p>
               <p class="para_td">NC_CONTROLLER_MTD_EVENT_HANDLER - the direct mode where the simulation events are blended with the post-generation code. </p>
               <p class="para_td">NC_CONTROLLER_PLUGIN - the plug-in mode where a dedicated plug-in program parses the NC program and executes S&amp;V commands.</p>
            </td>
         </tr>
         <tr valign="top">
            <th align="left" colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">mode: one of the three MTD modes</p>
            </td>
         </tr>
         <tr valign="top">
            <th align="left" colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
         <tr valign="top">
            <th align="left" colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_mtd_init NC_CONTROLLER_SIM_EVENT_HANDLER</p>
            </td>
         </tr>
      </table><br><a name="SIM_mtd_reset"></a><div class="title_division">SIM_mtd_reset</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="58*">
            <col span="1" width="141*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_mtd_reset </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Exits the machine tool driver and performs the corresponding cleanup.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_mtd_reset</p>
            </td>
         </tr>
      </table><br><a name="SIM_transform_offset_acs_to_mtcs"></a><div class="title_division">SIM_transform_offset_acs_to_mtcs</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="56*">
            <col span="1" width="143*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_transform_offset_acs_to_mtcs &lt;abs_xval&gt; &lt;abs_yval&gt; &lt;abs_zval&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Transforms the position in the absolute coordinate system to machine tool coordinate system.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">abs_xval,abs_yval,abs_zval: the input position in ACS</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">The variable mom_sim_result contains the transformed offset.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Example to find the origin of a junction in MTCS:</p>
               <p class="para_td">SIM_ask_junction_xform $JNC_name</p>
               <p class="para_td">listToVector offset $mom_sim_result1 3</p>
               <p class="para_td">SIM_transform_offset_acs_to_mtcs $offset(1) $offset(2) $offset(3) </p>
               <p class="para_td">set mtcs_offset $mom_sim_result</p>
            </td>
         </tr>
      </table><br><a name="SIM_transform_matrix_acs_to_mtcs"></a><div class="title_division">SIM_transform_matrix_acs_to_mtcs</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="55*">
            <col span="1" width="144*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_transform_matrix_acs_to_mtcs &lt;m00&gt; &lt;m01&gt; &lt;m02&gt; &lt;m10&gt; &lt;m11&gt; &lt;m12&gt; &lt;m20&gt; &lt;m21&gt; &lt;m22&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Returns the transformation that transforms from the coordinate system specified to the machine tool coordinate system (MTCS). The specified transformation is the transformation from ACS to the coordinate system that this matrix represents. For example, the specified transformation could be the transformation of the ZCS junction and the returned matrix is the matrix that transforms from ZCS to MTCS.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">&lt;m00..m22&gt; the source matrix transformation</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">The variable mom_sim_result returns the resulting transformation matrix (M00 M01 M02 ..). </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Example to transform from the junction coordinate system to MTCS:</p>
               <p class="para_td">SIM_ask_junction_xform $JNC_name </p>
               <p class="para_td">listToVector abs_matrix $mom_sim_result 9</p>
               <p class="para_td">listToVector abs_offset $mom_sim_result1 3</p>
               <p class="para_td">SIM_transform_offset_acs_to_mtcs $abs_offset(1) $abs_offset(2) $abs_offset(3) </p>
               <p class="para_td">set offset_zcs_to_mtcs $mom_sim_result</p>
               <p class="para_td">SIM_transform_matrix_acs_to_mtcs $abs_matrix(1) $abs_matrix(2) $abs_matrix(3) $abs_matrix(4) $abs_matrix(5) $abs_matrix(6) $abs_matrix(7) $abs_matrix(8) $abs_matrix(9)</p>
               <p class="para_td">set matrix_zcs_to_mtcs $mom_sim_result</p>
            </td>
         </tr>
      </table><br><a name="SIM_create_junction"></a><div class="title_division">SIM_create_junction</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="50*">
            <col span="1" width="149*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_create_junction &lt;name&gt; &lt;dest_name&gt; &lt;orgX&gt; &lt;orgY&gt; &lt;orgZ&gt; &lt;vecXx&gt; &lt;vecXy&gt; &lt;vecXz&gt; &lt;vecYx&gt; &lt;vecYy&gt; &lt;vecYz&gt; &lt;vecZx&gt; &lt;vecZy&gt; &lt;vecZz&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Creates a junction and attaches it to a specified component. The origin and coordinate system axes' direction in the absolute coordinate system are specified. The system creates the junction immediately.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">name: name of junction you want to create</p>
               <p class="para_td">dest_comp: name of K-component where the junction is attached.</p>
               <p class="para_td">orgX&amp;: the origin of the junction coordinate system in ACS</p>
               <p class="para_td">vecXx&amp;: the unit vectors of the X, Y and Z axes of the coordinate system.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Create a junction that coincides with current MCS:</p>
               <p class="para_td">set origin0 [ SIM_convert_sim_to_mtd_units $mom_msys_origin(0) ]</p>
               <p class="para_td">set origin1 [ SIM_convert_sim_to_mtd_units $mom_msys_origin(1) ]</p>
               <p class="para_td">set origin2 [ SIM_convert_sim_to_mtd_units $mom_msys_origin(2) ]</p>
               <p class="para_td">SIM_create_junction CURRENT_ZCS_JCT TABLE $origin0 $origin1 $origin2 $mom_msys_matrix(0) $mom_msys_matrix(1) $mom_msys_matrix(2) $mom_msys_matrix(3) $mom_msys_matrix(4) $mom_msys_matrix(5) $mom_msys_matrix(6) $mom_msys_matrix(7) $mom_msys_matrix(8)</p>
            </td>
         </tr>
      </table><br><a name="SIM_delete_junction"></a><div class="title_division">SIM_delete_junction</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="52*">
            <col span="1" width="147*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_delete_junction &lt;name&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Deletes specified junction from the kinematics model. This command is executed immediately.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Name: junction name</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
      </table><br><a name="SIM_start_of_simulation"></a><div class="title_division">SIM_start_of_simulation</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="58*">
            <col span="1" width="141*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_start_of_simulation </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Creates an event that indicates start of simulation </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
      </table><br><a name="SIM_end_of_simulation"></a><div class="title_division">SIM_end_of_simulation</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="64*">
            <col span="1" width="135*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_end_of_simulation </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Creates an event that indicates end of simulation.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
      </table><br><a name="SIM_activate_tool"></a><div class="title_division">SIM_activate_tool</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="52*">
            <col span="1" width="147*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_activate_tool &lt;tool_name&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Makes the specified tool current. The tool must already be mounted before this command is issued.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">tool_name: the name of the K-component that represents the tool.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">After mounting the tool, make it current:</p>
               <p class="para_td">SIM_mount_tool &quot;15&quot; &quot;UG_NAME&quot; $tool_name &quot;SPINDLE&quot; &quot;SPINDLE_JCT&quot;</p>
               <p class="para_td">set tool_name $mom_sim_result </p>
               <p class="para_td">if {$tool_name != &quot;&quot;} {</p>
               <p class="para_td">SIM_activate_tool $tool_name</p>
               <p class="para_td">}</p>
            </td>
         </tr>
      </table><br><a name="SIM_set_current_zcs_junction"></a><div class="title_division">SIM_set_current_zcs_junction</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="59*">
            <col span="1" width="140*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_set_current_zcs_junction &lt;jct_name&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Sets the current ZCS junction</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">zcs_jct: the name of the ZCS junction to make current</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
      </table><br><a name="SIM_set_mtd_units"></a><div class="title_division">SIM_set_mtd_units</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="57*">
            <col span="1" width="142*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_set_mtd_units &lt;units&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Sets the machine tool driver units. All dimensional values to/from S&amp;V commands are in this unit.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">units: MM or INCH</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
      </table><br><a name="SIM_set_feed"></a><div class="title_division">SIM_set_feed</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="55*">
            <col span="1" width="144*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_set_feed &lt;value&gt; &lt;unit&gt; &lt;duration&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Sets the current machine tool feed rate. </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">value: feed rate value</p>
               <p class="para_td">unit: one of the following values: MM_PER_MIN, INCH_PER_MIN, MM_PER_REV, INCH_PER_REV, MM_PER_100REV</p>
               <p class="para_td">duration: (optional argument) the time it takes the machine tool to execute this command</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
      </table><br><a name="SIM_set_speed"></a><div class="title_division">SIM_set_speed</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="61*">
            <col span="1" width="138*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_set_speed &lt;value&gt; &lt;unit&gt; &lt;duration&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Sets the current machine tool speed. </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">value: speed value</p>
               <p class="para_td">unit: only REV_PER_MIN is currently supported</p>
               <p class="para_td">duration: (optional argument) the time it takes the machine tool to execute this command</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
      </table><br><a name="SIM_set_coolant"></a><div class="title_division">SIM_set_coolant</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="60*">
            <col span="1" width="139*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_set_coolant &lt;value&gt; &lt;duration&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Sets the current machine tool coolant state. </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">value: ON or OFF</p>
               <p class="para_td">duration: (optional argument) the time it takes the machine tool to execute this command</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
      </table><br><a name="SIM_set_coolant_any"></a><div class="title_division">SIM_set_coolant_any</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="60*">
            <col span="1" width="139*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_set_coolant_any &lt;text&gt; &lt;duration&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Sets coolant parameter with given string. </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">&nbsp;text: text to identify the coolant parameter</p>
               <p class="para_td">duration: (optional argument) the time it takes the machine tool to execute this command</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
      </table><br><a name="SIM_set_cutting_mode"></a><div class="title_division">SIM_set_cutting_mode</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="59*">
            <col span="1" width="140*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_set_cutting_mode &lt;mode&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Sets cutting mode CUT or RAPID</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">mode: CUT or RAPID</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
      </table><br><a name="SIM_dbg_start"></a><div class="title_division">SIM_dbg_start</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="53*">
            <col span="1" width="145*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_dbg_start &lt;title&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Initializes S&amp;V command debugging tools. It also opens a listing device where the system writes output debug messages.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">title: optional text that is written to the output device.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_dbg_start Test my_MTD start</p>
            </td>
         </tr>
      </table><br><a name="SIM_dbg_end"></a><div class="title_division">SIM_dbg_end</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="57*">
            <col span="1" width="142*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_dbg_end</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Ends S&amp;V command debugging. It also closes the listing device to which the system writes output debug messages.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
      </table><br><a name="SIM_dbg_write_message"></a><div class="title_division">SIM_dbg_write_message</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="59*">
            <col span="1" width="140*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_dbg_write_message &lt;msg&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Writes message in the debugging output listing. If debugging is not active, no message will be written.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">msg: &nbsp;the debug message you want to write to the output device</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_dbg_write_message &quot;this is a test message for driver $driver_name&quot;</p>
            </td>
         </tr>
      </table><br><a name="SIM_dbg_set_output"></a><div class="title_division">SIM_dbg_set_output</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="59*">
            <col span="1" width="140*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_dbg_write_message &lt;on_off&gt; &lt;token1&gt;&amp;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Activates or deactivates one or more of the following tokens that write the corresponding data to the listing device:</p>
               <p class="para_td">SIM_DBG_OUTPUT_ERROR - output warnings/errors</p>
               <p class="para_td">SIM_DBG_OUTPUT_NC_CMD - output the NC program (i.e. G codes )</p>
               <p class="para_td">SIM_DBG_OUTPUT_CEVENT - output CEvents (i.e. the post events)</p>
               <p class="para_td">SIM_DBG_OUTPUT_INPUT_SV_EVENT - output S&amp;V input events</p>
               <p class="para_td">SIM_DBG_OUTPUT_OUTPUT_SV_EVENT - output S&amp;V output events</p>
               <p class="para_td">SIM_DBG_OUTPUT_PROCESSED_SV_EVENT - output S&amp;V processed events. These include the output events and those events created by the S&amp;V processors</p>
               <p class="para_td">SIM_DBG_OUTPUT_SV_CMD - output ALL S&amp;V commands that are called</p>
               <p class="para_td">SIM_DBG_OUTPUT_ALL &nbsp;&nbsp;&nbsp;- Output all the above data</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">on_off: ON or OFF to activate or deactivate the specified token. If no token is specified then S&amp;V debugging is turned on or off</p>
               <p class="para_td">token1..n: One or more of the tokens listed above. Tokens must be specified in upper case. Activate or deactivate debugging tokens. </p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_dbg_set_output ON SIM_DBG_OUTPUT_IVENT_SV_ENENT</p>
            </td>
         </tr>
      </table><br><a name="SIM_set_axis_allow_reversal"></a><div class="title_division">SIM_set_axis_allow_reversal</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="55*">
            <col span="1" width="144*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_set_axis_allow_reversal &lt;axis&gt; &lt;YES or NO&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Sets whether axis reversal for a rotary axis is possible. By default, axis reversal is allowed. This controls whether the axis can be rotated in the reverse direction to reach target position in cases where rotating the axis in the shortest path is not possible. &nbsp;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">axis: name of the axis</p>
               <p class="para_td">YES/NO: allow or not allow the mode</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_set_axis_allow_reversal C YES</p>
            </td>
         </tr>
      </table><br><a name="SIM_set_axis_rotary_dir_mode"></a><div class="title_division">SIM_set_axis_rotary_dir_mode</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="61*">
            <col span="1" width="138*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_set_axis_rotary_dir_mode &lt;axis_name&gt; &lt;rot_mode&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Sets the direction of rotation mode for the specified NC axis. This setting controls the path (CW or CCW) a rotary axis will follow when it goes to target position. The possible rotation modes are:</p>
               <p class="para_td">MAGNITUDE_DETERMINES_DIRECTION - the rotary axis behaves like a linear axis. If the target position is greater than zero, it rotates in the counterclockwise direction; if it is less than zero, it rotates clockwise. For example, if the current position is 355 and the target position is 370, the rotary axis rotates counterclockwise 15 degrees. If the target position is 10, it rotates clockwise 345 degrees.</p>
               <p class="para_td">ALWAYS_SHORTEST - moves to the target position using the shortest possible path. This is the default behaviour.</p>
               <p class="para_td">SIGN_DETERMINES_DIRECTION - for positive target position, the axis rotates counterclockwise. If negative, it rotates clockwise.</p>
               <p class="para_td">ALWAYS_CLW - rotates in clockwise direction only.</p>
               <p class="para_td">ALWAYS_CCLW - rotates in counterclockwise direction only.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">axis_name: the name of the axis</p>
               <p class="para_td">rot_mode: the rotation mode; see above</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">none</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Example</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_set_axis_rotary_dir_mode A ALWAYS_SHORTEST</p>
            </td>
         </tr>
      </table><br><a name="SIM_convert_nurbs_to_position_data"></a><div class="title_division">SIM_convert_nurbs_to_position_data</div>
      <table bgcolor="#f4f4f4" cellspacing="2" width="100%" align="center">
         <colgroup span="1">
            <col align="left" span="1" width="62*">
            <col span="1" width="137*">
         </colgroup>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Syntax</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">SIM_convert_nurbs_to_position_data &lt;cntr_pnt_count&gt; &lt;order&gt; &lt;knot_count&gt; &lt;knots&gt; &lt;cntr_pnts&gt;</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Description</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">Calculates an array of end-points of linear segments based on the given parameters for NURBS. Based on the existing documentation of NURBS (Post), points are 3 dimensional and knots are one-dimensional. Therefore knots have to have the length of knot_count and cntr_pnts has to have the length of 3*cntr_pnt_count.</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Parameters</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">cntr_pnt_count: number of control points</p>
               <p class="para_td">order: order of the nurbs</p>
               <p class="para_td">knot_count: number of knot vectors</p>
               <p class="para_td">knots: array of knot vectors</p>
               <p class="para_td">cntr_pnts: array of control points</p>
            </td>
         </tr>
         <tr valign="top">
            <th colspan="1" rowspan="1">
               <p class="para_th">Output</p>
            </th>
            <td colspan="1" rowspan="1">
               <p class="para_td">point_count: number of returned 3 dimensional points in the array in mom_sim_result variable</p>
               <p class="para_td">positions: list of points in 2-dimensional TCL array &nbsp;mom_sim_result_array(0...point_count,0...2)</p>
            </td>
         </tr>
      </table><br></body>
</html>