MDI cmd in joint mode

With switchkins module we can go trought world to joint mode from gcode ..... ok .... but there are a way to send MDI command in joint position istead world mode?

if someone put me in right road we can work over these ....

regards
 

'switchable kinematics' uses Mcodes 'M428, M429, M430' to switch to the corresponding kinematic. You can use this in a Gcode program or in MDI mode.
You may want to try the feature in one of the simulation configurations found in the 'axis/vismach/5axis/' or 'axis/vismach/melfasim' section of version 2.9 and above