;//O9933...Track  pocket by Yi-Wan LIN 10/09/1998
       #1=#5;
       IF (#13==#0) GOTO 10;
          @81=#13;
N10     #6=ABS(#6);
        #6=FIX(#6);
        @91=ABS(@91);
        @91=FIX(@91);
        IF(#6>0) GOTO 50;
        IF (@91<=0) GOTO 9052;
        #6=@91;            //use default feed rate
N50     F#6; //--------#6 FROM HERE HAS ANOTHER MEANS-----------------
        @1=#6;
        #21=ABS(#21);
        IF (#21 >0.5) GOTO 60;
          #21=2;    // U=0..G02
          GOTO 61;
N60     #21=3;      // U=1..G03 ; ;//---------------------------------
N61     IF(@90<#26) GOTO 9055;  //@90 must large then #26
        #4=ABS(#4);
        #8=ABS(#8);
        IF(#4==0) GOTO 9053;
        IF(#8==0) GOTO 9054;
        IF(#4 <= #8) GOTO 70;
           #4=#8; ; //--------------------------------------------------------
N70     IF ( #20 != #0 ) GOTO 75;   // 87.10.7 ADDED ..'T' argument
          #20=@92;
N75     #20=ABS(#20); // Phi must +   // REPLACE ALL @92 TO #20 BEGIN HERE
        #18=ABS(#18); // R   must +
        #22=ABS(#22); // V must +
        IF( #20==0  )   GOTO 9050;
        IF( (#18-#22) <  (#20/2)  )   GOTO 9081;
          #6=SQRT(  (#24-#9)*(#24-#9)+(#25-#10)*(#25-#10)  )/2;
        IF( #6<=0 ) GOTO 9080; //#6:distance(p1,p2)/2
        IF( #22 >#20 )   GOTO 9072;
        IF( @81<1 || @81>2) GOTO 9999;
        #11=#8/#4;;//-----cal. cut-down counts--------------------------------
        IF( (#11-FIX(#11))==0) GOTO 80;
          #11=#11+1;
          #11=FIX(#11);           // #11:-z  Feed count
N80     IF(  @81==2  )GOTO 200;    // finish machining skip 'W' process
        IF( (#18-#22) <= (#20/2)  )   GOTO 9082;// @81=1 there have 'W' process
        #23=ABS(#23); //W
        @93=ABS(@93); //percent of tool Dia.
        IF( #23>0  )  GOTO 100;
          #23=#20*@93*0.01;    //XY PLANE CUTTING dw(#23)
          IF( #23==0 )   GOTO 9056;
N100    IF( #23<=#20 ) GOTO 110;
          #23=#20;     // Maximum W=#20 to prevent W>phi ;
N110    #5=#18-#22-(#20/2);  //#5:machining length.;//-------------------------
        IF( #5<=0 ) GOTO 9082;
        @94=ABS(@94);
        IF(@94<0.5) GOTO 130;
          #33= #5 /#23;
          IF( (#33-FIX(#33))==0) GOTO 130;
          #33=#33+1;
          #33=FIX(#33);
        #23=#5/#33;  // wanna constant cutting!! ;
N130    IF(#23 <=  #5 ) GOTO 140;
          #23=#5; // #23 can't large than work length.
N140    #2=#5/#23;;//-----CAL cut-xy counts ---------------------------------
        IF( (#2-FIX(#2))==0) GOTO 200;
          #2=#2+1;
          #2=FIX(#2);
N200    #19=FIX(#19);;//-----Spindle running-----------------------------------
        @95=FIX(@95);
        IF(#19==#0) GOTO 210;
          @95=#19;
          IF (@95==0) GOTO 9051;
N210    IF (@95>0) GOTO 220;
        IF (@95==0) GOTO 9051;
          M04S-@95;
          M08;
        GOTO 221;
N220    M03S@95;
        M08;
N221    #16=(#24+#9)/2;    //Center of p1p2.X;  -------------------------------
        #17=(#25+#10)/2;   //Center of p1p2.Y
        #31=#9-#24;   // delta.X
        #32=#10-#25;  // delta.Y
        #7=ATAN(#32,#31);
        G68G90X#16Y#17R#7;     // Coord. rotation.
        IF(@81==1) GOTO 300;   // rough
        IF(@81==2) GOTO 600;   // finish
        GOTO 9999;
N300    G90G00Z@90;;//-----LOOP for rough  machining.--- @81=1 ---------
        G90G00X#16Y#17;
        G90G00Z#26;
        #12=1; //Loop   Z-cut .....for(#12=1;#12<=#11;#12++)
N310    IF( #12 >  #11) GOTO 360;
               G90G00X#16Y#17;
               IF(#12!=#11) GOTO 315;
                 #31=#26-#8;
               GOTO 316;
       N315      #31=#26-(#12*#4); ;       
       N316    G90G01Z#31F#1;
               F@1;
                G91G01X-#6;  //
                G91G01X#6;   // initial movement
                G91G01X#6;   //
                G91G01X-#6;
               #3=1; // Loop of x-y cut ;//------------------------------------
       N330    IF(#3 > #2 ) GOTO  350;
                 IF(#3!=#2) GOTO 335;
                   #13=#5;
                 GOTO 336;
         N335      #13=#3*#23;
         N336  #33=#17+#13;
               #32=2*#13;
               G90G01Y#33;
               IF(#21==3) GOTO 340; ;//---CW  Direction:G02  --------
               G91G01X#6;
                G02Y-#32R#13;
                 G01X-#6;
                 G01X-#6;
                G02Y#32R#13;
               G91G01X#6;
               GOTO 341; ;//---CCW Direction:G03 ---------
         N340  G91G01X-#6;
                G03Y-#32R#13;
                 G01X#6;
                 G01X#6;
                G03Y#32R#13;
                G91G01X-#6; ;
        N341   #3=#3+1;  // #3.. A counter ;//------------------------------
               GOTO 330; // that point out what x-y path be cutting.
     N350  #12=#12+1; // Eof x-y cut LOOP ;//----------------------------------
           GOTO 310;
N360    GOTO 9999;//Eof of Z_cut----LOOP:finish machining(@81=2)With soft move-
N600    IF( #22 > (#20/2) ) GOTO 700; //check if sofe-move wanted
        IF( (2*#18) < (1.5*#20+#22) ) GOTO 700;
        IF(#21==3) GOTO 610;
          #14=#16-#20/2;        //G02..soft Entry point.x
          #15=#17+(#18-#20);    //G02..soft Entry point.y
        GOTO 611;
N610      #14=#16+#20/2;        //G03..soft Entry point.x
          #15=#17+(#18-#20);    //G03..soft Entry point.y ;
N611    G90G00Z@90;
        G90G00X#14Y#15;
        G90G00Z#26;
        #30=#20/2;      // soft_in radius=1/2 phi
        #28=#18-#20/2;  //..radius of machining.
        #29=2*#28;      //..
               #12=1;;//------Loop of Z_cut-------
       N620    IF(#12 > #11) GOTO  650;
               IF(#12!=#11) GOTO 630;
                 #31=#26-#8;
               GOTO 631;
       N630      #31=#26-(#12*#4);
       N631    IF(#21==3) GOTO 640;
                 G90G01X#14Y#15; //use G01 for safe                 
                 G90G01Z#31F#1;
                 F@1;
                 G91G02X#30Y#30R#30; //soft_in
                   G01X#6;
                  G02Y-#29R#28;
                   G01X-#6;
                   G01X-#6;
                  G02Y#29R#28;
                   G01X#6;
                 G91G02X#30Y-#30R#30; //soft_out
               GOTO 641;
       N640      G90G01X#14Y#15; //use G01 for safe                 
                 G90G01Z#31F#1;
                 F@1;
                 G91G03X-#30Y#30R#30; //soft_in
                   G01X-#6;
                  G03Y-#29R#28;
                   G01X#6;
                   G01X#6;
                  G03Y#29R#28;
                   G01X-#6;
                 G91G03X-#30Y-#30R#30; //soft_out
N641           #12=#12+1;
               GOTO 620;
      N650   IF(@96 == 1) GOTO 651;
             G90G00Z#26; ;//------Eof Z-cut LOOP-------
             GOTO 9999;
      N651   G90G00X#16Y#17;
             G90G00Z#26; ;//------Eof Z-cut LOOP-------
        GOTO 9999;
N700    G90G00Z@90;//--LOOP for  finish machining.  @81=2  Without soft move--
        G90G00X#16Y#17;
        G90G00Z#26;
        #30=#20/2;      // soft_in radius=1/2 phi
        #28=#18-#20/2;  //..radius of machining.
        #29=2*#28;      //
        #27=#17+#28;    // Entry point.Y
               #12=1;;//------Loop of Z_cut-------
       N720    IF(#12 > #11) GOTO  750;
               IF(#12!=#11) GOTO 730;
                 #31=#26-#8;
               GOTO 731;
       N730      #31=#26-(#12*#4); ;
       N731    IF(#21==3) GOTO 740;
                 G90G00X#16Y#17; // Center of workpice                 
                 G90G01Z#31F#1;
                 F@1;
                 G90G01X#16Y#27;
                 G91G01X#6;
                  G02Y-#29R#28;
                   G01X-#6;
                   G01X-#6;
                  G02Y#29R#28;
                   G01X#6;
               GOTO 741;
       N740      G90G01X#16Y#17; // Center of workpice                 
                 G90G01Z#31F#1;
                 F@1;
                 G90G01X#16Y#27;
                 G91G01X-#6;
                  G03Y-#29R#28;
                   G01X#6;
                   G01X#6;
                  G03Y#29R#28;
                   G01X-#6; ;
       N741    #12=#12+1;
               GOTO 720;
N750    IF (@96 == 1) GOTO 751;
        G90G00Z#26; //------Eof Z-cut LOOP-------
        GOTO 9999;
N751    G90G00X#16Y#17;   
        G90G00Z#26; //------Eof Z-cut LOOP-------
        GOTO 9999;
N9999   IF (@96 == 1) GOTO 99991;
        G90G00Z@90;
        GOTO 99992;
N99991  G90G00X#16Y#17;
        G90G00Z@90;//========================================================
;;      M5;       //Turn-OFF spindle and coolant
;;      M9;
;;      G90G00X#16Y#17;
N99992  G69;
        M99;
;//----------------------------------------------------------------------------
N8888   ;//Program done with wrong argument given
;;      M5;                     //stop spindle and coolant
;;      M9;
        G69;
        M99;
;//----------------------------------------------------------------------------
N9050    $599=50;
N9051    $599=51;
N9052    $599=52;
N9053    $599=53;
N9054    $599=54;
N9055    $599=55;
N9056    $599=56;
N9072    $599=72;
N9080    $599=80;
N9081    $599=81;
N9082    $599=82;
         GOTO 8888;
;//--------------------------------------------------------
;//  Track pocket cutting
;//  FORMAT :  @90 ---> ESCAPE Z AXIS DATA
;//            @91 ---> FEEDRATE
;//            @92 ---> TOOL DIAMETER
;//            @93 ---> CUT WIDTH %
;//            @94 ---> CONSTANT CUT WIDTH
;//            @95 ---> SPINDLE SPEED (100%)
;//            @96 ---> RETURN PATH SELECTION
;//            @81 ---> 1)ROUGH_INNER 2)FINISH_INNER
;//  Soft_IN RAD=@92/2
;// X(#24): X coord. of reference point1.X
;// Y(#25): Y coord. of reference point1.Y
;// I(#24): X coord. of reference point2.X
;// J(#25): Y coord. of reference point2.Y
;// Z(#26): The top surface of the work piece
;// R(#18): radius of corner
;// T(#20): @92(low priority),TOOL DIA
;// W(#23): the cut width of each movement in xy plane
;// U(#21): cutting direction 0:G02 1:G03
;// V(#22): finish cutting allowance
;// H( #8): total Cut Depth
;// D( #4): the cut depth of each -Z advance
;// F( #6): feedrate
;//-------------------------------------------------------------------