Thanks for your comments.
Please allow me to clarify a few things:
Then, you would program a rotation of the second rotary axis using a second line of G68 code.
G68.x commands using euler angles will define both rotary axes in a single line because the new work plane can be completely defined by X,Y,Z offsets and the three euler angles I,J,K. If you want to define the work plane using 3 points or 2 vectors then you need more than one line of G68.2 Px Qx commands to enter all the parameters.
G68.x will define the offset and orientation of the tool plane but cause no machine motion.
G53.x will then align the tool to the tool plane (ie this will cause machine motion) AND switch the offsets to the new WCS. This is the reason why G53.x always follows immediately after a G68.x (which is what the guy in the first video I posted was wondering about). The G53.x codes can only be used once the work plane has been completely defined.
G68 X Y Z A B C
Note, G68.x codes do not use A,B or C words.
It was much less confusing to program the needed motion using a CAD/CAM system and not worry about the operator losing orientation.
TWP can be used in CAM/PP gcode generation as well as in manual programming on the controller.
[edit]
Just to be clear, I'm not trying to sell the 'TWP' feature here. I've had use for it on kinematics with tool side rotation and I decided to donate my work for people interested in it. I've built machines where this is used regularly for manual programming on the controller. Expanding it to kinematics with work side rotation would really only mean more donated work for me. All I'm trying to do here is explain what it actually does because there clearly is a lot of confusion and misunderstanding about it even among people who do use it. It's a tool in the toolbox whether you find it useful or not is up to you.
