Not an intrusion at all.
I do not doubt that mach can control the robot, As a matter of fact, I know it can be done.
The problem lies with the kinematics of the robot, that is, the mathematic equations that define the position of the end effector (tool) at all times. That can be done on Mach at a certain extent, and its not easy to come up with those equations. The limitations of this in mach, is that the movements are based on end of move coordinates, the machine does not necessarily move in a desired trayectory to that point. Brian told me that will be worked on but should not expect it any sooner than a year.
What I was actually reffering to, is to capture the movements of the encoders on the robot, as you manually position the robot and make the desired work (weld, paint, apply glue, etc) then have the software (mach) replicate those moves with the motors on the robot.
Hope that clarifies it better.
Regards
Fernando