No worries. I've already prepared my code for CIRCs and SPLINE, so theoretically it should be quick to implement.
I'm still a bit worried about the syntax as I cannot test KUKA.CNC at my setup, so some tests here would be great. I've got the programming manual from ISG Software, but it is not robot specific and most examples only use three axis.
G02 and G03 are clear, I would probably also have to set G161 to set the auxiliary point in absolute coordinates. What I'm not sure about is how to best implement arbitrary arcs, as the arcs seem to be always in relation to one of the three planes (via G17, G18, G19).
The challenge with splines is that the default B-Spline settings works with control points, while the robot creates a spline that goes through the points. So I would have to set it to Akima interpolation, which will be a bit different from the preview.
I'll have to check if an Akima spline with three points approximates an arc with the right tangents or not. That could also be a workaround...
Any ideas on that? Maybe I'm misunderstanding things here...