This simulation uses 'three21' kinematics and the 'standard' DH-parameters used by that particular kinematic model. 


melfa-switchkins usage:

1) startup (after homing) is in
'three21' mode configured like
melfa-switchkins.ini as an mm-based machine
with 6 revolute joints.

2) pyvcp buttons are provided to switch
between 'three21' and 'identity'
kinematics.  The buttons issue remapped
commands M428,M429.  These commands 
 a) set the motion.switchkins-type pin and
 b) force a synchronization using a
motion input read command.

3) when set for 'identity' kins, default
assignments are:

   x : joint0
   y : joint1
   z : joint2
   a : joint3
   b : joint4
   c : joint5
so the gcode commands:
   'g0x10' moves joint0
   'g0c10' moves joint5

4) when set for 'three21' the axis letters
represent the cartesian coordinates.
