Standard intepretation of feedrate for multi-axis machines

[naikymen]

• NIST standard: https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=823374#G5.1010695
• Mach3 reference: https://machmotion.com/documentation/gcode/Mach3-GCode-Language-Reference.pdf

In short, F is interpreted in its context.

• F is linear in XYZ moves: mm/min.
• F is angular in ABC moves: deg/min.
• For mixed moves, F is calculated along the path: mm/min.

Different machines may also require configurable interpretations of acceleration and limits. It is not yet clear how these limits should be applied or interpreted.

• Standard rotational axes are "wrapped": they are treated as linear axes with infinite limits.
  • Still, we want limits for machines with physical limits to rotation (e.g. pnp machines).
• Some axes should not be limited by the same acceleration limit set for XYZ or other axes.