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interp: split loaded vs applied tool offset params (#5401-#5409, #5081-#5089) #4219

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interp: split loaded vs applied tool offset params (#5401-#5409, #5081-#5089) #4219

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81cde99
interp: split loaded vs applied tool offset params (#5401-#5409, #508…
grandixximo Jul 2, 2026
433651b
tests: restore #5401-#5409 loaded-offset assertions
grandixximo Jul 2, 2026
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6 changes: 4 additions & 2 deletions docs/src/gcode/g-code.adoc
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Expand Up @@ -1485,8 +1485,10 @@ G43 <H->

'G43 Hn' uses the offset for tool n.

The active tool length compensation values are stored in the numbered
parameters '5401-5409'.
The tool length compensation values actually applied to motion are stored
in the numbered parameters '5081-5089'. The numbered parameters
'5401-5409' instead hold the loaded tool's stored offset, refreshed on tool
change ('M6') and 'G10 L1'/'L10'/'L11'.

[NOTE]
'G43 H0' is a little special. Its behavior is different on random
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12 changes: 10 additions & 2 deletions docs/src/gcode/overview.adoc
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Expand Up @@ -313,6 +313,11 @@ example '##2' means the value of the parameter whose index is the
which the G38 took place. Volatile.
* '5070' - <<gcode:g38,G38>> probe result: 1 if success, 0 if probe
failed to close. Used with G38.3 and G38.5. Volatile.
* '5081-5089' - Tool length offset currently applied to motion for X, Y,
Z, A, B, C, U, V & W, in the current program units. Set by
`G43`/`G43.1`/`G43.2`, and 0 when `G49` is in effect. These report the
offset actually in effect, which differs from the loaded tool's stored
offset in '5401-5409'. Volatile.
* '5161-5169' - "G28" Home for X, Y, Z, A, B, C, U, V & W. Persistent.
* '5181-5189' - "G30" Home for X, Y, Z, A, B, C, U, V & W. Persistent.
* '5210' - 1 if "G52" or "G92" offset is currently applied, 0
Expand Down Expand Up @@ -344,8 +349,11 @@ example '##2' means the value of the parameter whose index is the
Persistent.
* '5399' - Result of M66 - Check or wait for input. Volatile.
* '5400' - Tool Number. Volatile.
* '5401-5409' - Currently applied tool length offset for X, Y, Z, A, B, C,
U, V & W. Set by `G43`/`G43.1`/`G43.2`, cleared by `G49`. Volatile.
* '5401-5409' - The loaded tool's stored offset for X, Y, Z, A, B, C, U, V
& W. Refreshed from the tool table on tool change (`M6`), at startup, and
by `G10 L1`/`L10`/`L11`. These are not affected by `G43`/`G43.1`/`G43.2`
or `G49`; for the offset actually applied to motion see '5081-5089'.
Volatile.
* '5410' - Tool Diameter. Volatile.
* '5411' - Tool Front Angle. Volatile.
* '5412' - Tool Back Angle. Volatile.
Expand Down
46 changes: 29 additions & 17 deletions src/emc/rs274ngc/interp_convert.cc
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Expand Up @@ -4149,9 +4149,19 @@ int Interp::convert_setup_tool(block_pointer block, setup_pointer settings) {
}
}

// #5401-#5409 reflect the applied tool length offset (G43-family).
// G10 L1/L10/L11 modify the tool table but do not apply offsets to
// motion, so do not update them here. See #2994.
// #5401-#5409 hold the loaded tool's stored offset, refreshed here so
// G10 L1/L10/L11 edits to the loaded tool are reflected. The offset
// actually applied to motion (G43/G43.1/G43.2) is reported by
// #5081-#5089.
settings->parameters[5401] = settings->tool_table[0].offset.tran.x;
settings->parameters[5402] = settings->tool_table[0].offset.tran.y;
settings->parameters[5403] = settings->tool_table[0].offset.tran.z;
settings->parameters[5404] = settings->tool_table[0].offset.a;
settings->parameters[5405] = settings->tool_table[0].offset.b;
settings->parameters[5406] = settings->tool_table[0].offset.c;
settings->parameters[5407] = settings->tool_table[0].offset.u;
settings->parameters[5408] = settings->tool_table[0].offset.v;
settings->parameters[5409] = settings->tool_table[0].offset.w;
settings->parameters[5410] = settings->tool_table[0].diameter;
settings->parameters[5411] = settings->tool_table[0].frontangle;
settings->parameters[5412] = settings->tool_table[0].backangle;
Expand Down Expand Up @@ -5786,21 +5796,23 @@ int Interp::convert_tool_length_offset(int g_code, //!< g_code being execu

settings->tool_offset = tool_offset;

// Update parameters #5401-#5409 to reflect the actually applied tool
// length offset (covers G43Hn with n != loaded tool, G43.1 dynamic
// offsets, and G43.2 additive offsets). Without this, params lag the
// applied offset and only refresh on M6 / G10 L1. See issue #2994.
// Update parameters #5081-#5089 to reflect the tool length offset
// actually applied to motion (covers G43, G43Hn with n != loaded tool,
// G43.1 dynamic offsets, G43.2 additive offsets, and G49 which zeroes
// them). This mirrors the Fanuc #5081-#5088 semantic. #5401-#5409, by
// contrast, track the loaded tool's stored offset and refresh on M6 /
// G10 L1. See issue #2994.
// tool_offset here is in program units; params follow the user-unit
// convention used elsewhere when populating #5401-#5409.
settings->parameters[5401] = PROGRAM_TO_USER_LEN(tool_offset.tran.x);
settings->parameters[5402] = PROGRAM_TO_USER_LEN(tool_offset.tran.y);
settings->parameters[5403] = PROGRAM_TO_USER_LEN(tool_offset.tran.z);
settings->parameters[5404] = PROGRAM_TO_USER_ANG(tool_offset.a);
settings->parameters[5405] = PROGRAM_TO_USER_ANG(tool_offset.b);
settings->parameters[5406] = PROGRAM_TO_USER_ANG(tool_offset.c);
settings->parameters[5407] = PROGRAM_TO_USER_LEN(tool_offset.u);
settings->parameters[5408] = PROGRAM_TO_USER_LEN(tool_offset.v);
settings->parameters[5409] = PROGRAM_TO_USER_LEN(tool_offset.w);
// convention used elsewhere.
settings->parameters[5081] = PROGRAM_TO_USER_LEN(tool_offset.tran.x);
settings->parameters[5082] = PROGRAM_TO_USER_LEN(tool_offset.tran.y);
settings->parameters[5083] = PROGRAM_TO_USER_LEN(tool_offset.tran.z);
settings->parameters[5084] = PROGRAM_TO_USER_ANG(tool_offset.a);
settings->parameters[5085] = PROGRAM_TO_USER_ANG(tool_offset.b);
settings->parameters[5086] = PROGRAM_TO_USER_ANG(tool_offset.c);
settings->parameters[5087] = PROGRAM_TO_USER_LEN(tool_offset.u);
settings->parameters[5088] = PROGRAM_TO_USER_LEN(tool_offset.v);
settings->parameters[5089] = PROGRAM_TO_USER_LEN(tool_offset.w);

return INTERP_OK;
}
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12 changes: 11 additions & 1 deletion src/emc/rs274ngc/interp_parameter_def.hh
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Expand Up @@ -31,6 +31,16 @@ enum InterpParameterIndex {
G38_W,
// 5070 - G38 probe result: 1 if success, 0 if probe failed to close. Used with G38.3 and G38.5. Volatile.
G38_TRIPPED=5070,
// 5081-5089 - Tool length offset actually applied to motion for X, Y, Z, A, B, C, U, V & W (Fanuc #5081-#5088 semantic). Set by G43/G43.1/G43.2, cleared by G49. Volatile.
APPLIED_TOOL_OFFSET_X=5081,
APPLIED_TOOL_OFFSET_Y,
APPLIED_TOOL_OFFSET_Z,
APPLIED_TOOL_OFFSET_A,
APPLIED_TOOL_OFFSET_B,
APPLIED_TOOL_OFFSET_C,
APPLIED_TOOL_OFFSET_U,
APPLIED_TOOL_OFFSET_V,
APPLIED_TOOL_OFFSET_W,
// 5161-5169 - "G28" Home for X, Y, Z, A, B, C, U, V & W. Persistent.
G28_X=5161,
G28_Y,
Expand Down Expand Up @@ -167,7 +177,7 @@ enum InterpParameterIndex {
// 5399 - Result of M66 - Check or wait for input. Volatile.
M66_RESULT=5399,
// 5400 - Tool Number. Volatile.
// 5401-5409 - Tool Offsets for X, Y, Z, A, B, C, U, V & W. Volatile.
// 5401-5409 - Loaded tool's stored offset for X, Y, Z, A, B, C, U, V & W. Set on tool change (M6), startup, and G10 L1/L10/L11. See #5081-#5089 for the offset actually applied to motion. Volatile.
TOOL_NUMBER=5400,
TOOL_OFFSET_X=5401,
TOOL_OFFSET_Y,
Expand Down
41 changes: 33 additions & 8 deletions src/emc/rs274ngc/rs274ngc_pre.cc
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Expand Up @@ -2531,9 +2531,18 @@ int Interp::init_tool_parameters()
if (_setup.random_toolchanger) {
// random_toolchanger: tool at startup expected
_setup.parameters[5400] = _setup.tool_table[0].toolno;
// #5401-#5409 reflect the applied tool length offset (Fanuc #5081-#5088
// semantic). Written only by G43/G43.1/G43.2/G49. At startup no G43
// has been issued, so leave them at their default zero. See #2994.
// #5401-#5409 hold the loaded tool's stored offset, applied on tool
// change (M6), on startup, and by G10 L1/L10/L11. The offset actually
// in effect on motion (G43/G43.1/G43.2) is reported by #5081-#5089.
_setup.parameters[5401] = _setup.tool_table[0].offset.tran.x;
_setup.parameters[5402] = _setup.tool_table[0].offset.tran.y;
_setup.parameters[5403] = _setup.tool_table[0].offset.tran.z;
_setup.parameters[5404] = _setup.tool_table[0].offset.a;
_setup.parameters[5405] = _setup.tool_table[0].offset.b;
_setup.parameters[5406] = _setup.tool_table[0].offset.c;
_setup.parameters[5407] = _setup.tool_table[0].offset.u;
_setup.parameters[5408] = _setup.tool_table[0].offset.v;
_setup.parameters[5409] = _setup.tool_table[0].offset.w;
_setup.parameters[5410] = _setup.tool_table[0].diameter;
_setup.parameters[5411] = _setup.tool_table[0].frontangle;
_setup.parameters[5412] = _setup.tool_table[0].backangle;
Expand All @@ -2550,8 +2559,15 @@ int Interp::init_tool_parameters()
int Interp::default_tool_parameters()
{
_setup.parameters[5400] = 0; // toolno
// #5401-#5409 reflect the applied tool length offset (G43-family).
// Not touched here; managed by convert_tool_length_offset. See #2994.
_setup.parameters[5401] = 0; // x offset
_setup.parameters[5402] = 0; // y offset RESERVED
_setup.parameters[5403] = 0; // z offset
_setup.parameters[5404] = 0; // a offset RESERVED
_setup.parameters[5405] = 0; // b offset RESERVED
_setup.parameters[5406] = 0; // c offset RESERVED
_setup.parameters[5407] = 0; // u offset RESERVED
_setup.parameters[5408] = 0; // v offset RESERVED
_setup.parameters[5409] = 0; // w offset RESERVED
_setup.parameters[5410] = 0; // diameter
_setup.parameters[5411] = 0; // frontangle
_setup.parameters[5412] = 0; // backangle
Expand All @@ -2569,9 +2585,18 @@ int Interp::set_tool_parameters()
return 0;
}
_setup.parameters[5400] = _setup.tool_table[0].toolno;
// #5401-#5409 reflect the applied tool length offset (G43-family) and
// are deliberately not updated by M6: M6 changes the loaded tool but
// does not by itself apply its offset to motion. See #2994.
// #5401-#5409 hold the loaded tool's stored offset, refreshed on tool
// change (M6). The offset actually applied to motion (G43/G43.1/G43.2)
// is reported by #5081-#5089.
_setup.parameters[5401] = _setup.tool_table[0].offset.tran.x;
_setup.parameters[5402] = _setup.tool_table[0].offset.tran.y;
_setup.parameters[5403] = _setup.tool_table[0].offset.tran.z;
_setup.parameters[5404] = _setup.tool_table[0].offset.a;
_setup.parameters[5405] = _setup.tool_table[0].offset.b;
_setup.parameters[5406] = _setup.tool_table[0].offset.c;
_setup.parameters[5407] = _setup.tool_table[0].offset.u;
_setup.parameters[5408] = _setup.tool_table[0].offset.v;
_setup.parameters[5409] = _setup.tool_table[0].offset.w;
_setup.parameters[5410] = _setup.tool_table[0].diameter;
_setup.parameters[5411] = _setup.tool_table[0].frontangle;
_setup.parameters[5412] = _setup.tool_table[0].backangle;
Expand Down
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