1. Surprise operator overloading! So simple I wouldn't have thought to try.
I assume: POINT #new_ang = HERE+TRANS(x,y,z,o,a,t) would just throw an error and stop execution if inverse kinematics solution is impossible (outside work envelope, violating joint limits)?
5. Yes, what I do falls under purview of machining and pick&place. Also I am quite lazy and try to write parametric/reusable code, so any abstractions I can get hold of are useful.
9. Oh yeah, I program offline 99% of the time. Pendant I use for calibration and for program selection
Thank you again.