Good time of the day!
I have one question on realization management tool.
It Is Given:
1. G-code, XYZ - standard.
2. Soft EMC2 (linux-Ubuntu) and Mach3 (WindowsXP)
3. Output given from soft A(x)=X, B(y)=Y, C(z)=Z
The Crossbar engines on axises A,B,C - not standard.
Necessary to realize the functional dependency output given from soft to motor:
I know nothing about Mach 3 but a bit about EMC2 so my answer here is probably only applicable to that system.
Take a look at some of the existing kinematics files at kinematics source. I'd start there with trivkins.c. It is a set that uses motors that exactly match allignment with Cartesian x,y,z,a,b,c,u,v,w. From there look at some of the transformation source like rotatekins.c and you'll quickly catch on to how machine pose is related to motors on non-trivial systems.
The puma and scara kinematics should also help understand complex relationships if you are familiar with the design of these machines.