Hi,
that is a robot arm with three rotating joints that I can see. Gcode cannot drive that.
Gcode, at least lets start with just three axis Gcode, describes the movement of a machine along the X axis,
Y axis and Z axis all mutually orthogonal to each other. If you have a Gcode file like this:
G1 X 100
G1 Y100
G1 Z 100
G1 X0 Y0 Z0
then the machine moves to 100mm in the X direction, then it moves 100mm in the Y direction, then 100mm in the Z direction,
and the last line causes all three axes to move at once it a straight line from (100,100,100) to (0,0,0).
In order for your robot arm to describe a 100mm linear movement requires coordinated action between the three rotating joints.
This is done by a 'kinematic solver'. If you wish to make for instance a linear move of 100mm in a given direction at a given speed
the you need some software that can 'solve' for the required commands to each of the three rotating joints so that motion can be achieved.
The relationship between the three rotating joints is not necessarily constant either.
Mach is not, nor will it ever be a kinematic solver. If you have a separate program that does the kinematics then you could potentially use Mach
to signal the motor drives, not a very practical solution. It would be a bit like translating English into Chinese and the Chinese to Russian, when it would
be better to translate direct from English to Russian and skip the Chinese bit altogether.
I don't think Mach is going to help you. Mach is a GCode interpreter and orthogonal trajectory planner, great for CNC machines and 3D printers,
CNC lathes and CNC Laser tables but no good for robot kinematics. You are barking up the wrong tree.
Craig