From 0a143b634f5971a6da06b3fea963f4210370286c Mon Sep 17 00:00:00 2001
From: Lead Bot <lead@local>
Date: Mon, 9 Nov 2026 10:42:13 -0700
Subject: [PATCH] Posts: linuxcnc_router with probe and vacuum/dust auxiliaries

---
 CHANGELOG.md                                  |    1 +
 README.md                                     |    1 +
 crates/cli/tests/post_e2e.rs                  |    1 +
 crates/post/README.md                         |   12 +-
 crates/post/posts/linuxcnc_router.json        |   45 +
 crates/post/src/audit.rs                      |  121 +-
 crates/post/src/def.rs                        |  130 +-
 crates/post/src/lib.rs                        |    3 +
 crates/post/src/read.rs                       |   25 +
 crates/post/src/tests.rs                      |  136 +-
 crates/post/src/write.rs                      |   86 +-
 crates/post/tests/audit.rs                    |   10 +
 .../tests/golden/curves.linuxcnc_router.nc    |  246 ++++
 .../post/tests/golden/dome.linuxcnc_router.nc | 1238 +++++++++++++++++
 .../tests/golden/sample.linuxcnc_router.nc    |   49 +
 docs/job-file.md                              |    7 +
 16 files changed, 2073 insertions(+), 38 deletions(-)
 create mode 100644 crates/post/posts/linuxcnc_router.json
 create mode 100644 crates/post/tests/golden/curves.linuxcnc_router.nc
 create mode 100644 crates/post/tests/golden/dome.linuxcnc_router.nc
 create mode 100644 crates/post/tests/golden/sample.linuxcnc_router.nc

diff --git a/CHANGELOG.md b/CHANGELOG.md
index b167ba1..6c5e153 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -6,6 +6,7 @@
 
 - A diameter tool may set `cutter_sense` (`upcut`, `downcut`, or `compression`) and, with compression, `upcut_length` (millimetres at the tip). Omitted, compensation stays the flat diameter offset. Sense is stored on the job and the IR for later checks; it does not change the 2D offset. Posted G-code is unchanged when the field is omitted. This output has not been proven on a machine.
 - A profile, pocket, face, engrave, drill, wrap or live mill may set `onion_skin`, a positive length strictly less than `depth`. Earlier depth passes stop that far short of the floor. The last pass cuts the skin with the same entry as the other passes. Omitting the field leaves the depth plan unchanged. `campanion run` checks that no earlier pass enters the skin and that the last pass reaches the floor. This output has not been proven on a machine.
+- `linuxcnc_router` is a millimetre LinuxCNC gantry post: the same RS274 motion as `linuxcnc`, with no rotary axis. A Probe event with a contact pose and a feed is `G38.2` (LinuxCNC straight probe; <https://linuxcnc.org/docs/stable/html/gcode/g-code.html#gcode:g38>). `vacuum` and `dust` are immediate digital outputs `M64`/`M65` (<https://linuxcnc.org/docs/stable/html/gcode/m-code.html#mcode:m62-m65>); pin numbers default to 0 and 1. Any other Other name is refused. Existing posts still fall back to `process.other`. This output has not been proven on a machine.
 
 ## 0.9.3 — 2026-11-03
 
diff --git a/README.md b/README.md
index 6d656f1..3b054d6 100644
--- a/README.md
+++ b/README.md
@@ -81,6 +81,7 @@ that post. The G-code is read back and compared to the toolpath at the job chord
 | id | name | Rotary | description |
 | --- | --- | --- | --- |
 | `linuxcnc` | LinuxCNC | A, inverse time | Millimetre RS274 dialect for LinuxCNC. Absolute moves, cutter compensation cancelled, IJK arcs and helices. A axis with inverse-time feed (G93, cancelled by G94) when the angle changes. |
+| `linuxcnc_router` | LinuxCNC router | - | Millimetre LinuxCNC gantry router. G38.2 tool-length probe, vacuum and dust as M64/M65. No rotary axis. |
 | `grbl` | Grbl | - | Millimetre dialect for Grbl. Absolute moves, IJK arcs and helices, no line numbers, tool changes as comments. No rotary axis. |
 | `mach3` | Mach3 | A, degrees per minute | Millimetre dialect for Mach3. Incremental IJK arcs and helices, dwell P in seconds, no line numbers. A axis with degrees-per-minute feed when the angle changes. |
 | `fanuc` | Fanuc | A, inverse time | Millimetre Fanuc mill dialect. Program O0001, sequence numbers, R arcs, helices as lines, dwell P in milliseconds. A axis with inverse-time feed (G93, cancelled by G94) when the angle changes. |
diff --git a/crates/cli/tests/post_e2e.rs b/crates/cli/tests/post_e2e.rs
index 64d6cd6..055b966 100644
--- a/crates/cli/tests/post_e2e.rs
+++ b/crates/cli/tests/post_e2e.rs
@@ -154,6 +154,7 @@ fn posts_lists_every_builtin() -> Result<(), String> {
     if ids
         != [
             "linuxcnc",
+            "linuxcnc_router",
             "linuxcnc_5ax",
             "linuxcnc_5ax_tcp",
             "grbl",
diff --git a/crates/post/README.md b/crates/post/README.md
index c12871a..98d8f59 100644
--- a/crates/post/README.md
+++ b/crates/post/README.md
@@ -12,11 +12,21 @@ RS274/NGC posts. A post definition is JSON (`posts/linuxcnc.json` and the other
 
 `per_cut` writes every process-on. When any process is still on and the next motion is a rapid (`G0`), the writer emits `thc.off` and that process's off lines before the rapid, then the on lines again before the next feed. Speed and power come from the process-on that is still in effect. A pierce dwell is written only when the IR already has a dwell at that cut. Plasma and `grbl_laser` set `per_cut`, so a torch or beam stays off through G0 travel even when the IR process is `spindle`.
 
+## LinuxCNC router
+
+`linuxcnc_router` is the millimetre LinuxCNC dialect for a gantry. Motion matches `linuxcnc`: absolute millimetres, cancelled cutter compensation, IJK arcs and helices, and path blend `G64 P0.01`. There is no `rotary` block. A typical gantry is XYZ, so a program with an A or B angle is rejected. Use `linuxcnc` when the machine has a fourth axis.
+
+A Probe event with a contact pose and a feed is one `G38.2` block: the three axis words are the contact tip, and `F` is the probe feed. LinuxCNC `G38.2` is a straight probe that stops on contact and alarms if the probe does not trip ([G38](https://linuxcnc.org/docs/stable/html/gcode/g-code.html#gcode:g38)). `G38.2` is motion group 1, with `G0`/`G1`/`G2`/`G3`, so the next move states `G0` or `G1` again. The contact is not a part move: the writer's position and the audit position stay where they were, and `F` becomes the modal feed. A Probe with no contact pose is `probe needs a contact pose`. A Probe with no feed is `probe needs a feed`. A post with no `probe` block still writes `(probe)`. `probe.code` may be `G38.3` on a custom post (same move, no alarm if the probe does not trip).
+
+`vacuum` and `dust` are Other processes. The post lists them in `auxiliaries` and refuses any other Other name. Posts that omit `auxiliaries` still fall back to `process.other`. On is `M64 P{pin}` and off is `M65 P{pin}`: immediate digital outputs ([M62–M65](https://linuxcnc.org/docs/stable/html/gcode/m-code.html#mcode:m62-m65)). `digital_out.vacuum_pin` defaults to 0 and `digital_out.dust_pin` defaults to 1. `{pin}` is allowed only on those two templates, and only when `digital_out` is set. A vacuum or dust that is still on at the end of the program is turned off with the same pin.
+
+`audit` treats the probe block as a non-motion and accepts `M64`/`M65` only when `digital_out` is set and `P` is one of the declared pins. `G53` handling is unchanged. This output has not been proven on a machine.
+
 ## Modal audit
 
 `audit` reads posted mill G-code and returns the modal state a control would keep at each motion block: motion mode (`G0`–`G3`), plane (`G17`–`G19`), distance (`G90`/`G91`), units (`G20`/`G21`), feed mode (`G93`/`G94`), the active `F`, work offset (`G54`–`G59`), the tool in the spindle (`T` and `M6`, or the post's tool-change comment), tool-length offset (`G43`/`G49`), spindle or beam (`M3`/`M4`/`M5`, including a laser `S` word), coolant, and a modal rotary word when the post has `rotary`.
 
-A word these posts do not write is an error, so a typo in a template fails the replay. A `G2` or `G3` needs a known plane and a full centre: both in-plane letters (`I`/`J`, `I`/`K`, or `J`/`K`) or an `R`. A feed move needs a positive `F` already set. An inverse-time feed block must carry its own `F`. When line numbers are enabled, every numbered line follows the post's start and step, and each number stays at or below 1000000000. Each line must fit `max_line_length`. On a `decimal_point` post, dimensional words include a decimal point, and that includes rotary `A`, `B`, and `C`. A negative zero, scientific notation, and a word whose absolute value is above `1e9` are errors.
+A word these posts do not write is an error, so a typo in a template fails the replay. On a post with `probe`, `G38.2` or `G38.3` is not a motion: position and motion mode stay put, and `F` on that block updates the modal feed. On a post with `digital_out`, `M64` and `M65` are accepted when `P` equals `vacuum_pin` or `dust_pin`. Other posts still reject those codes. A `G2` or `G3` needs a known plane and a full centre: both in-plane letters (`I`/`J`, `I`/`K`, or `J`/`K`) or an `R`. A feed move needs a positive `F` already set. An inverse-time feed block must carry its own `F`. When line numbers are enabled, every numbered line follows the post's start and step, and each number stays at or below 1000000000. Each line must fit `max_line_length`. On a `decimal_point` post, dimensional words include a decimal point, and that includes rotary `A`, `B`, and `C`. A negative zero, scientific notation, and a word whose absolute value is above `1e9` are errors.
 
 Work offset stays unset when the text never selects `G54`–`G59`. Feed mode stays units per minute until `G93` or `G94`. `M2` and `M30` turn the spindle and coolant off. `M3` or `M4` with `S0` is a beam or torch that is off. A lathe post is rejected, because diameter mode is a different dialect. Calling `audit` on a five-axis post returns the `audit_five` replay as this mill report, with `A` in the rotary field.
 
diff --git a/crates/post/posts/linuxcnc_router.json b/crates/post/posts/linuxcnc_router.json
new file mode 100644
index 0000000..251519f
--- /dev/null
+++ b/crates/post/posts/linuxcnc_router.json
@@ -0,0 +1,45 @@
+{
+  "id": "linuxcnc_router",
+  "name": "LinuxCNC router",
+  "description": "Millimetre RS274 dialect for a LinuxCNC gantry router. Absolute moves, cutter compensation cancelled, IJK arcs and helices, path blend G64 P0.01. No rotary axis: a gantry is XYZ, and a program with an A or B angle is rejected. A Probe event with a contact pose and a feed is G38.2 toward that pose (LinuxCNC straight probe; G38.2 alarms if the probe does not trip; https://linuxcnc.org/docs/stable/html/gcode/g-code.html#gcode:g38). A Probe with no contact pose or no feed is refused. Named Other processes vacuum and dust are immediate digital outputs M64 Pn and M65 Pn (https://linuxcnc.org/docs/stable/html/gcode/m-code.html#mcode:m62-m65). digital_out.vacuum_pin defaults to 0 and digital_out.dust_pin defaults to 1. Any other Other name is refused. Not proven on a machine.",
+  "units": "mm",
+  "line_numbers": { "enabled": true, "start": 10, "step": 10, "prefix": "N" },
+  "decimals": { "linear": 4, "feed": 4, "dwell": 3 },
+  "trailing_zeros": true,
+  "header": [
+    "({program_name})",
+    "G21",
+    "G90",
+    "G17",
+    "G40",
+    "G49",
+    "G64 P0.01"
+  ],
+  "footer": [],
+  "modal_motion": true,
+  "arcs": { "mode": "ijk", "max_sweep_deg": 360, "helix": true },
+  "planes": true,
+  "dwell": { "word": "P", "unit": "s" },
+  "process": {
+    "spindle": { "on": ["M3 S{speed}"], "off": ["M5"] },
+    "torch": { "on": ["M3 S{speed}"], "off": ["M5"] },
+    "laser": { "on": ["M3 S{speed}"], "off": ["M5"] },
+    "extruder": { "on": ["M3 S{speed}"], "off": ["M5"] },
+    "knife": { "on": ["M3 S{speed}"], "off": ["M5"] },
+    "vacuum": { "on": ["M64 P{pin}"], "off": ["M65 P{pin}"] },
+    "dust": { "on": ["M64 P{pin}"], "off": ["M65 P{pin}"] }
+  },
+  "auxiliaries": ["vacuum", "dust"],
+  "digital_out": { "vacuum_pin": 0, "dust_pin": 1 },
+  "probe": { "code": "G38.2" },
+  "tool_change": ["T{tool} M6"],
+  "coolant": { "flood": ["M8"], "mist": ["M7"], "off": ["M9"] },
+  "comments": { "style": "paren" },
+  "program_end": ["M2"],
+  "max_line_length": 256,
+  "axis_letters": "XYZ",
+  "references": [
+    "https://linuxcnc.org/docs/stable/html/gcode/g-code.html#gcode:g38",
+    "https://linuxcnc.org/docs/stable/html/gcode/m-code.html#mcode:m62-m65"
+  ]
+}
diff --git a/crates/post/src/audit.rs b/crates/post/src/audit.rs
index dad57a4..bdb2ce7 100644
--- a/crates/post/src/audit.rs
+++ b/crates/post/src/audit.rs
@@ -12,6 +12,9 @@
 //! stays unset when the program never writes `G54`–`G59`. Feed mode stays
 //! units per minute until `G93` or `G94`. `M2` and `M30` turn the spindle and coolant off.
 //! `M3` or `M4` with `S0` is running with the beam or torch off: [`SpindleState::cutting`] is false.
+//! A post with `probe` treats its `G38.2` or `G38.3` as a non-motion: position and motion mode
+//! stay put, and `F` on that block updates the modal feed. A post with `digital_out` accepts
+//! `M64` and `M65` when `P` is `vacuum_pin` or `dust_pin`. Other posts still reject those words.
 
 use campanion_ir::{ArcSense, Plane, RotaryAxisKind};
 
@@ -202,7 +205,9 @@ pub struct AuditReport {
 ///
 /// Mill and five-axis posts. A lathe post is rejected. Unknown letters, unknown `G` and `M`
 /// codes, a `G2`/`G3` without a plane and a full centre or radius, a feed move before a positive
-/// `F`, and an inverse-time feed block with no `F` on that block are errors. Line-number
+/// `F`, and an inverse-time feed block with no `F` on that block are errors. A straight-probe
+/// block (`G38.2` or `G38.3` on a post that sets `probe`) is not a motion. `M64` and `M65` are
+/// accepted only when the post sets `digital_out` and `P` is one of its pins. Line-number
 /// sequence, line length, Fanuc/Haas decimal points, negative zero, and word magnitudes above
 /// `1e9` are checked as the text is read. Five-axis text is replayed by [`crate::audit_five`]
 /// and returned as the same mill report, with `A` in [`MotionState::rotary`].
@@ -255,6 +260,24 @@ struct Parser<'a> {
 }
 
 impl<'a> Parser<'a> {
+    fn is_probe_word(&self, word: &Word) -> bool {
+        self.post.probe_number().is_some_and(|code| (word.value - code).abs() < 1e-6)
+    }
+
+    fn is_immediate_digital(&self, word: &Word) -> bool {
+        if self.post.digital_out.is_none() {
+            return false;
+        }
+        if !(word.value.is_finite() && (0.0..=999.0).contains(&word.value)) {
+            return false;
+        }
+        let rounded = word.value.round();
+        if (word.value - rounded).abs() > 1e-6 {
+            return false;
+        }
+        matches!(rounded as u16, 64 | 65)
+    }
+
     fn new(post: &'a PostDef) -> Self {
         let next_number = post.line_numbers.enabled.then_some(u64::from(post.line_numbers.start));
         Self {
@@ -373,16 +396,25 @@ impl<'a> Parser<'a> {
         let mut feed_on_block = false;
         let mut saw_rotary = false;
         let mut saw_s = false;
-        let mut saw_p = false;
+        let mut p_value: Option<f64> = None;
+        let mut probe_words = 0u32;
+        let mut digital = false;
         let mut block_feed: Option<FeedMode> = None;
         let axes = axis_letters(self.post);
 
         for word in words {
             match word.letter {
+                'G' if self.is_probe_word(word) => probe_words += 1,
                 'G' => {
                     let code = g_or_m(line_no, word, 'G')?;
                     self.apply_g(line_no, code, &mut saw_dwell, &mut want_length, &mut block_motion, &mut block_plane, &mut block_feed)?;
                 }
+                'M' if self.is_immediate_digital(word) => {
+                    if digital {
+                        return Err(fail(line_no, "duplicate digital output"));
+                    }
+                    digital = true;
+                }
                 'M' => {
                     let code = g_or_m(line_no, word, 'M')?;
                     self.apply_m(line_no, code)?;
@@ -418,13 +450,13 @@ impl<'a> Parser<'a> {
                     h_word = Some(whole_word(line_no, word, 'H')?);
                 }
                 'P' => {
-                    if saw_p {
+                    if p_value.is_some() {
                         return Err(fail(line_no, "duplicate P word"));
                     }
                     if !(word.value.is_finite() && word.value >= 0.0) {
                         return Err(fail(line_no, "P word must be >= 0"));
                     }
-                    saw_p = true;
+                    p_value = Some(word.value);
                 }
                 'I' => set_unique(line_no, &mut i, word)?,
                 'J' => set_unique(line_no, &mut j, word)?,
@@ -444,6 +476,27 @@ impl<'a> Parser<'a> {
             }
         }
 
+        if digital {
+            let Some(pin) = p_value else {
+                return Err(fail(line_no, "digital output needs a P word"));
+            };
+            if !self.post.digital_pin(pin) {
+                return Err(fail(line_no, "digital output P is not a declared pin"));
+            }
+        }
+        if probe_words > 0 {
+            if probe_words > 1 || block_motion.is_some() || saw_dwell || i.is_some() || j.is_some() || k.is_some() || r.is_some() || saw_rotary {
+                return Err(fail(line_no, "probe cannot share a block with another motion"));
+            }
+            if x.is_none() && y.is_none() && z.is_none() {
+                return Err(fail(line_no, "probe needs an axis word"));
+            }
+            if !feed_on_block {
+                return Err(fail(line_no, "probe needs a feed"));
+            }
+            return Ok(());
+        }
+
         if want_length {
             let Some(h) = h_word else {
                 return Err(fail(line_no, "G43 needs an H word"));
@@ -1057,7 +1110,7 @@ mod tests {
         let path = ClPath::try_new(Some("outer".into()), Some(1), CompensationMode::Off, feeds, None, Vec::new(), blocks).expect("path");
         let program = Program::try_new(Some("plate".into()), vec![tool], None, vec![path], Vec::new(), Vec::new(), None).expect("program");
         let options = PostOptions { arc_tolerance: 0.05 };
-        for id in ["linuxcnc", "grbl", "mach3", "fanuc", "haas", "plasma", "grbl_laser"] {
+        for id in ["linuxcnc", "linuxcnc_router", "grbl", "mach3", "fanuc", "haas", "plasma", "grbl_laser"] {
             let post = builtin(id).expect(id);
             let text = post_program(&program, &post, &options).unwrap_or_else(|err| panic!("{id}: {err}"));
             assert!(!text.contains("-0"), "{id}: {text}");
@@ -1070,4 +1123,62 @@ mod tests {
             assert!(!report.spindle.on, "{id}");
         }
     }
+
+    #[test]
+    fn linuxcnc_router_probe_and_auxiliaries_replay() {
+        let post = builtin("linuxcnc_router").expect("router");
+        let toward = Pose::new(Vec3::new(1.0, 2.0, -10.0).expect("tip"), Vec3::Z).expect("pose");
+        let approach = Pose::new(Vec3::new(0.0, 0.0, 5.0).expect("tip"), Vec3::Z).expect("pose");
+        let cut = Pose::new(Vec3::new(10.0, 0.0, 5.0).expect("tip"), Vec3::Z).expect("pose");
+        let spindle = ProcessParams::new().speed(Some(12_000.0)).expect("speed");
+        let blocks = vec![
+            ClBlock::Event(Event::ProcessOn { process: ProcessKind::Other("dust".into()), params: ProcessParams::new() }),
+            ClBlock::Event(Event::ProcessOn { process: ProcessKind::Other("vacuum".into()), params: ProcessParams::new() }),
+            ClBlock::Event(Event::Probe { toward: Some(toward), feed: Some(100.0) }),
+            ClBlock::Motion(ClMotion::Rapid { to: approach, feed: None }),
+            ClBlock::Event(Event::ProcessOn { process: ProcessKind::Spindle, params: spindle }),
+            ClBlock::Motion(ClMotion::Linear { to: cut, feed: 100.0, role: MoveRole::Cut }),
+            ClBlock::Event(Event::ProcessOff { process: ProcessKind::Spindle }),
+            ClBlock::Event(Event::ProcessOff { process: ProcessKind::Other("vacuum".into()) }),
+            ClBlock::Event(Event::ProcessOff { process: ProcessKind::Other("dust".into()) }),
+        ];
+        let feeds = Feeds::try_new(100.0, None, None, None, None).expect("feeds");
+        let path = ClPath::try_new(Some("outer".into()), None, CompensationMode::Off, feeds, None, Vec::new(), blocks).expect("path");
+        let program = Program::try_new(Some("plate".into()), Vec::new(), None, vec![path], Vec::new(), Vec::new(), None).expect("program");
+        let text = crate::post_program(&program, &post, &crate::PostOptions { arc_tolerance: 0.05 }).expect("post");
+        let at = |token: &str| {
+            text.lines().position(|line| line.split_whitespace().any(|word| word == token)).unwrap_or_else(|| panic!("{token} missing\n{text}"))
+        };
+        let dust_on = at("P1");
+        let vacuum_on = text.lines().position(|line| line.split_whitespace().any(|word| word == "M64") && line.contains("P0")).expect("vacuum on");
+        let probe = at("G38.2");
+        let rapid = at("G0");
+        let spindle_on = at("M3");
+        let cut_at = at("G1");
+        let spindle_off = at("M5");
+        let vacuum_off = text.lines().position(|line| line.split_whitespace().any(|word| word == "M65") && line.contains("P0")).expect("vacuum off");
+        let dust_off = text.lines().position(|line| line.split_whitespace().any(|word| word == "M65") && line.contains("P1")).expect("dust off");
+        assert!(dust_on < vacuum_on && vacuum_on < probe && probe < rapid && rapid < spindle_on && spindle_on < cut_at, "{text}");
+        assert!(cut_at < spindle_off && spindle_off < vacuum_off && vacuum_off < dust_off, "{text}");
+        let probe_line = text.lines().nth(probe).expect("probe line");
+        assert!(
+            probe_line.split_whitespace().any(|word| word == "X1.0000")
+                && probe_line.split_whitespace().any(|word| word == "Y2.0000")
+                && probe_line.split_whitespace().any(|word| word == "Z-10.0000")
+                && probe_line.split_whitespace().any(|word| word == "F100.0000"),
+            "{probe_line}"
+        );
+        let cut_line = text.lines().nth(cut_at).expect("cut line");
+        assert!(cut_line.split_whitespace().all(|word| !word.starts_with('F')), "{cut_line}");
+        let report = audit(&text, &post).unwrap_or_else(|err| panic!("{err}\n{text}"));
+        assert_eq!(report.motions.len(), 2, "{text}");
+        assert_eq!(report.motions[0].mode, super::MotionMode::Rapid);
+        assert!(!report.motions[0].spindle.on);
+        assert_eq!(report.motions[1].mode, super::MotionMode::Linear);
+        assert!(report.motions[1].spindle.on);
+        assert!((report.motions[1].feed.expect("feed") - 100.0).abs() < 1e-6);
+        assert!(!report.spindle.on);
+        let moves = crate::read_back(&text, &post).expect("read");
+        crate::compare(&program, &moves, 1e-3, &post).expect("compare");
+    }
 }
diff --git a/crates/post/src/def.rs b/crates/post/src/def.rs
index 1145ee8..703a61f 100644
--- a/crates/post/src/def.rs
+++ b/crates/post/src/def.rs
@@ -21,6 +21,13 @@
 //! invent one. Plasma and the Grbl laser post set `per_cut`, so a torch or beam mapped from any
 //! process, including `spindle`, is off during G0 travel.
 //!
+//! `probe` is optional. `code` is `G38.2` or `G38.3`. A Probe event with a contact pose and a
+//! feed writes that code, the tip, and `F`. Without `probe`, the event stays a comment. A missing
+//! pose or feed is an error when `probe` is set. `auxiliaries`, when set, lists the Other names
+//! the post accepts; any other name is an error, and there is no `process.other` fallback. When
+//! `auxiliaries` is omitted, Other still uses `process.other`. `digital_out` supplies `{pin}` for
+//! the `vacuum` and `dust` templates. `vacuum_pin` defaults to 0 and `dust_pin` defaults to 1.
+//!
 //! `rotary` is optional. Without it, a program that carries a rotary angle is rejected. `axes`
 //! lists `a`, `b`, or both. The A/B word uses the dimensional formatter with `decimals`
 //! (degrees). `decimal_point` keeps a point on that word and on `X` `Y` `Z` `I` `J` `K` `R`
@@ -41,7 +48,7 @@
 //! `c_feed` is `per_minute` or `inverse_time`. Cylinder `on` lines may use `{radius}` and
 //! `{diameter}`. `references` cites the codes and is never written to the program.
 
-use std::collections::BTreeMap;
+use std::collections::{BTreeMap, BTreeSet};
 
 use campanion_ir::RotaryAxisKind;
 use serde::Deserialize;
@@ -53,6 +60,7 @@ const MAX_LINES: usize = 64;
 const MAX_TEMPLATE_CHARS: usize = 400;
 const HEADER_KEYS: &[&str] = &["program_name", "program_number", "date-free!"];
 const PROCESS_KEYS: &[&str] = &["program_name", "date-free!", "speed", "power"];
+const AUX_PROCESS_KEYS: &[&str] = &["program_name", "date-free!", "speed", "power", "pin"];
 const TOOL_KEYS: &[&str] = &["program_name", "date-free!", "tool"];
 const LATHE_BARE: &[&str] = &["date-free!"];
 const LATHE_CSS: &[&str] = &["surface", "max_rpm", "date-free!"];
@@ -119,6 +127,15 @@ pub struct PostDef {
     #[serde(default = "default_process_cycle")]
     pub(crate) process_cycle: String,
     pub(crate) process: BTreeMap<String, ProcessWords>,
+    /// Other names this post accepts. Absent keeps the `process.other` fallback.
+    #[serde(default)]
+    pub(crate) auxiliaries: Option<Vec<String>>,
+    /// Pins substituted for `{pin}` on the `vacuum` and `dust` templates.
+    #[serde(default)]
+    pub(crate) digital_out: Option<DigitalOut>,
+    /// Straight-probe code. Absent leaves a Probe event as a comment.
+    #[serde(default)]
+    pub(crate) probe: Option<ProbeOutput>,
     /// Torch-height control. `on` follows the pierce dwell. `off` precedes process off.
     #[serde(default)]
     pub(crate) thc: Option<ThcWords>,
@@ -183,6 +200,33 @@ pub(crate) struct ProcessWords {
     pub(crate) off: Vec<String>,
 }
 
+/// Straight probe. `code` is `G38.2` or `G38.3`.
+#[derive(Clone, Debug, PartialEq, Deserialize)]
+#[serde(deny_unknown_fields)]
+pub(crate) struct ProbeOutput {
+    pub(crate) code: String,
+}
+
+/// Immediate digital-output pins for `vacuum` and `dust`.
+#[derive(Clone, Debug, PartialEq, Deserialize)]
+#[serde(deny_unknown_fields)]
+pub(crate) struct DigitalOut {
+    /// `P` number on the vacuum `M64` / `M65` lines. Default 0.
+    #[serde(default = "default_vacuum_pin")]
+    pub(crate) vacuum_pin: u32,
+    /// `P` number on the dust `M64` / `M65` lines. Default 1.
+    #[serde(default = "default_dust_pin")]
+    pub(crate) dust_pin: u32,
+}
+
+fn default_vacuum_pin() -> u32 {
+    0
+}
+
+fn default_dust_pin() -> u32 {
+    1
+}
+
 /// Whether positioning rapids along Z are written.
 #[derive(Clone, Copy, Debug, PartialEq, Eq, Deserialize)]
 #[serde(deny_unknown_fields)]
@@ -717,7 +761,14 @@ impl PostDef {
         if !matches!(self.process_cycle.as_str(), "hold" | "per_cut") {
             return Err(field("process_cycle", "must be hold or per_cut"));
         }
-        check_process(&self.process)?;
+        if let Some(out) = &self.digital_out {
+            check_digital_out(out)?;
+        }
+        if let Some(probe) = &mut self.probe {
+            check_probe(probe)?;
+        }
+        check_process(&self)?;
+        check_auxiliaries(&self)?;
         if let Some(thc) = &self.thc {
             check_templates("thc.on", &thc.on, PROCESS_KEYS)?;
             check_templates("thc.off", &thc.off, PROCESS_KEYS)?;
@@ -829,6 +880,31 @@ impl PostDef {
     pub(crate) fn cycles_per_cut(&self) -> bool {
         self.process_cycle == "per_cut"
     }
+
+    /// Numeric `G38.2` or `G38.3` when this post writes a straight probe.
+    pub(crate) fn probe_number(&self) -> Option<f64> {
+        match self.probe.as_ref().map(|probe| probe.code.as_str()) {
+            Some("G38.2") => Some(38.2),
+            Some("G38.3") => Some(38.3),
+            _ => None,
+        }
+    }
+
+    /// True when `value` is `vacuum_pin` or `dust_pin`.
+    pub(crate) fn digital_pin(&self, value: f64) -> bool {
+        let Some(out) = &self.digital_out else {
+            return false;
+        };
+        if !(value.is_finite() && value >= 0.0) {
+            return false;
+        }
+        let rounded = value.round();
+        if (value - rounded).abs() > 1e-6 || rounded > f64::from(u32::MAX) {
+            return false;
+        }
+        let pin = rounded as u32;
+        pin == out.vacuum_pin || pin == out.dust_pin
+    }
 }
 
 fn check_lathe(post: &PostDef) -> Result<()> {
@@ -1244,15 +1320,55 @@ fn check_dwell_word(word: &str, axes: &str, prefix: &str) -> Result<()> {
     Ok(())
 }
 
-fn check_process(map: &BTreeMap<String, ProcessWords>) -> Result<()> {
-    if map.len() > 32 {
+fn check_process(post: &PostDef) -> Result<()> {
+    if post.process.len() > 32 {
         return Err(field("process", "too many entries"));
     }
-    for (key, words) in map {
+    for (key, words) in &post.process {
         check_token("process", key, 64).map_err(|_| field("process", format!("invalid key `{key}`")))?;
-        check_templates(&format!("process.{key}.on"), &words.on, PROCESS_KEYS)?;
-        check_templates(&format!("process.{key}.off"), &words.off, PROCESS_KEYS)?;
+        let allowed = if post.digital_out.is_some() && matches!(key.as_str(), "vacuum" | "dust") { AUX_PROCESS_KEYS } else { PROCESS_KEYS };
+        check_templates(&format!("process.{key}.on"), &words.on, allowed)?;
+        check_templates(&format!("process.{key}.off"), &words.off, allowed)?;
+    }
+    Ok(())
+}
+
+fn check_auxiliaries(post: &PostDef) -> Result<()> {
+    let Some(names) = &post.auxiliaries else {
+        return Ok(());
+    };
+    if names.len() > 32 {
+        return Err(field("auxiliaries", "at most 32 names"));
+    }
+    let mut seen = BTreeSet::new();
+    for name in names {
+        check_token("auxiliaries", name, 64).map_err(|_| field("auxiliaries", format!("invalid name `{name}`")))?;
+        if !seen.insert(name.as_str()) {
+            return Err(field("auxiliaries", format!("duplicate `{name}`")));
+        }
+        if !post.process.contains_key(name) {
+            return Err(field("auxiliaries", format!("`{name}` has no process template")));
+        }
+    }
+    Ok(())
+}
+
+fn check_digital_out(out: &DigitalOut) -> Result<()> {
+    check_pin("digital_out.vacuum_pin", out.vacuum_pin)?;
+    check_pin("digital_out.dust_pin", out.dust_pin)?;
+    Ok(())
+}
+
+fn check_pin(field_name: &str, pin: u32) -> Result<()> {
+    if pin > 999 { Err(field(field_name, "must be 0..=999")) } else { Ok(()) }
+}
+
+fn check_probe(probe: &mut ProbeOutput) -> Result<()> {
+    let code = probe.code.trim().to_ascii_uppercase();
+    if code != "G38.2" && code != "G38.3" {
+        return Err(field("probe.code", "must be G38.2 or G38.3"));
     }
+    probe.code = code;
     Ok(())
 }
 
diff --git a/crates/post/src/lib.rs b/crates/post/src/lib.rs
index 154f5c1..999bb9b 100644
--- a/crates/post/src/lib.rs
+++ b/crates/post/src/lib.rs
@@ -52,6 +52,7 @@ pub use def::{ChannelsOutput, PostDef, load_post};
 pub use error::{PostError, Result};
 
 const LINUXCNC_JSON: &str = include_str!("../posts/linuxcnc.json");
+const LINUXCNC_ROUTER_JSON: &str = include_str!("../posts/linuxcnc_router.json");
 const LINUXCNC_5AX_JSON: &str = include_str!("../posts/linuxcnc_5ax.json");
 const LINUXCNC_5AX_TCP_JSON: &str = include_str!("../posts/linuxcnc_5ax_tcp.json");
 const GRBL_JSON: &str = include_str!("../posts/grbl.json");
@@ -72,6 +73,7 @@ const GENERIC_LATHE_2CH_JSON: &str = include_str!("../posts/generic_lathe_2ch.js
 pub fn builtin_ids() -> &'static [&'static str] {
     &[
         "linuxcnc",
+        "linuxcnc_router",
         "linuxcnc_5ax",
         "linuxcnc_5ax_tcp",
         "grbl",
@@ -94,6 +96,7 @@ pub fn builtin_ids() -> &'static [&'static str] {
 pub fn builtin(id: &str) -> Option<PostDef> {
     let json = match id {
         "linuxcnc" => LINUXCNC_JSON,
+        "linuxcnc_router" => LINUXCNC_ROUTER_JSON,
         "linuxcnc_5ax" => LINUXCNC_5AX_JSON,
         "linuxcnc_5ax_tcp" => LINUXCNC_5AX_TCP_JSON,
         "grbl" => GRBL_JSON,
diff --git a/crates/post/src/read.rs b/crates/post/src/read.rs
index 4b24ab7..7f86883 100644
--- a/crates/post/src/read.rs
+++ b/crates/post/src/read.rs
@@ -6,6 +6,8 @@
 //! inverse-time codes (`G93` / `G94` on LinuxCNC). Those stay modal the way `X` `Y` `Z` do.
 //! A post with `five_axis` also accepts A, B and C as modal joint words, G93/G94 from
 //! `five_axis.continuous`, the on/off templates (G254/G255 on Haas), and G53 as a machine retract.
+//! When the post has `probe`, its `G38.2` or `G38.3` is not a move: the axis words are the contact
+//! target and are not stored, and `F` on that block updates the modal feed.
 //!
 //! A lathe post returns part-frame positions. In diameter mode each X word is divided by two.
 //! Y is 0, except while face or cylinder interpolation (from the post's `face_interp` /
@@ -204,6 +206,10 @@ pub fn read_back(text: &str, post: &PostDef) -> Result<Vec<ReadMove>> {
 }
 
 impl<'a> Parser<'a> {
+    fn is_probe_code(&self, value: f64) -> bool {
+        self.post.probe_number().is_some_and(|code| (value - code).abs() < 1e-6)
+    }
+
     fn interpret(&mut self, words: Vec<(char, f64)>, raw: &str) -> Result<Option<ReadMove>> {
         self.note_sub_line(raw);
         if let Some((letter, value)) = words.first().copied()
@@ -220,8 +226,10 @@ impl<'a> Parser<'a> {
         let mut g_codes = Vec::new();
         let mut saw_m = false;
         let mut saw_t = false;
+        let mut probe_count = 0u32;
         for (letter, value) in &words {
             match *letter {
+                'G' if self.is_probe_code(*value) => probe_count += 1,
                 'G' => g_codes.push(g_number(*value)?),
                 'M' => saw_m = true,
                 'T' => saw_t = true,
@@ -334,6 +342,23 @@ impl<'a> Parser<'a> {
         if motions > 1 || planes > 1 {
             return Err(invalid("line has conflicting G codes"));
         }
+        if probe_count > 0 {
+            if probe_count > 1 || motions > 0 || !g_codes.is_empty() {
+                return Err(invalid("probe cannot share a block with another motion"));
+            }
+            let has_axis = axes.iter().any(|letter| words.iter().any(|(word, _)| word == letter));
+            if !has_axis {
+                return Err(invalid("probe needs an axis word"));
+            }
+            let Some(feed) = f else {
+                return Err(invalid("probe needs a feed"));
+            };
+            if !(feed.is_finite() && feed > 0.0) {
+                return Err(invalid("feed must be positive"));
+            }
+            self.feed = Some(feed);
+            return Ok(None);
+        }
         // U and W are incremental lathe axes. Fanuc home is `G28 U0 W0`. Any other use would
         // move in a frame this parser does not track.
         if words.iter().any(|(letter, _)| *letter == 'U' || *letter == 'W') && !g_codes.contains(&28) {
diff --git a/crates/post/src/tests.rs b/crates/post/src/tests.rs
index dd0c960..d6a6444 100644
--- a/crates/post/src/tests.rs
+++ b/crates/post/src/tests.rs
@@ -135,6 +135,7 @@ fn builtins_load_and_match_ids() {
         builtin_ids(),
         &[
             "linuxcnc",
+            "linuxcnc_router",
             "linuxcnc_5ax",
             "linuxcnc_5ax_tcp",
             "grbl",
@@ -161,6 +162,7 @@ fn builtins_load_and_match_ids() {
     assert_eq!(builtin("linuxcnc").expect("linuxcnc").max_line_length(), Some(256));
     assert_eq!(builtin("linuxcnc").expect("linuxcnc").rotary_axes(), vec![RotaryAxisKind::A]);
     assert!(builtin("grbl").expect("grbl").rotary_axes().is_empty());
+    assert!(builtin("linuxcnc_router").expect("linuxcnc_router").rotary_axes().is_empty());
     assert_eq!(builtin("mach3").expect("mach3").rotary_axes(), vec![RotaryAxisKind::A]);
     assert_eq!(builtin("fanuc").expect("fanuc").rotary_axes(), vec![RotaryAxisKind::A]);
     assert_eq!(builtin("haas").expect("haas").rotary_axes(), vec![RotaryAxisKind::A]);
@@ -200,7 +202,9 @@ fn builtins_load_and_match_ids() {
     for id in ["fanuc", "haas", "haas_umc", "haas_umc_tcpc", "fanuc_lathe", "haas_lathe", "generic_lathe_2ch"] {
         assert!(builtin(id).expect(id).decimal_point, "{id}");
     }
-    for id in ["linuxcnc", "linuxcnc_5ax", "linuxcnc_5ax_tcp", "grbl", "mach3", "plasma", "grbl_laser", "linuxcnc_lathe", "grbl_lathe"] {
+    for id in
+        ["linuxcnc", "linuxcnc_router", "linuxcnc_5ax", "linuxcnc_5ax_tcp", "grbl", "mach3", "plasma", "grbl_laser", "linuxcnc_lathe", "grbl_lathe"]
+    {
         assert!(!builtin(id).expect(id).decimal_point, "{id}");
     }
     assert!(builtin("centroid").is_none());
@@ -1640,9 +1644,137 @@ fn a_positive_feed_that_rounds_to_zero_is_rejected() {
         ClBlock::Motion(ClMotion::Linear { to: pose(1.0, 0.0, 1.0), feed: 0.00004, role: MoveRole::Cut }),
     ];
     let program = program(blocks);
-    for id in ["linuxcnc", "grbl", "mach3", "fanuc", "haas", "plasma", "grbl_laser"] {
+    for id in ["linuxcnc", "linuxcnc_router", "grbl", "mach3", "fanuc", "haas", "plasma", "grbl_laser"] {
         let post = builtin(id).expect(id);
         let err = post_program(&program, &post, &options()).expect_err(id);
         assert!(err.to_string().contains("feed rounds to zero"), "{id}: {err}");
     }
 }
+
+fn router() -> crate::PostDef {
+    builtin("linuxcnc_router").expect("linuxcnc_router")
+}
+
+fn router_json() -> serde_json::Value {
+    serde_json::from_str(include_str!("../posts/linuxcnc_router.json")).expect("json")
+}
+
+fn probe_cut() -> Program {
+    let toward = pose(1.0, 2.0, -10.0);
+    let spindle = ProcessParams::new().speed(Some(12_000.0)).expect("speed");
+    program(vec![
+        ClBlock::Event(Event::ProcessOn { process: ProcessKind::Other("vacuum".into()), params: ProcessParams::new() }),
+        ClBlock::Event(Event::Probe { toward: Some(toward), feed: Some(80.0) }),
+        ClBlock::Motion(ClMotion::Rapid { to: pose(0.0, 0.0, 5.0), feed: None }),
+        ClBlock::Event(Event::ProcessOn { process: ProcessKind::Spindle, params: spindle }),
+        ClBlock::Motion(ClMotion::Linear { to: pose(10.0, 0.0, 5.0), feed: 80.0, role: MoveRole::Cut }),
+        ClBlock::Event(Event::ProcessOff { process: ProcessKind::Spindle }),
+        ClBlock::Event(Event::ProcessOff { process: ProcessKind::Other("vacuum".into()) }),
+    ])
+}
+
+fn word_line<'a>(text: &'a str, token: &str) -> &'a str {
+    text.lines().find(|line| line.split_whitespace().any(|word| word == token)).unwrap_or_else(|| panic!("{token} missing\n{text}"))
+}
+
+#[test]
+fn linuxcnc_router_probe_writes_g38_2_and_restates_motion() {
+    let post = router();
+    let program = probe_cut();
+    let text = post_program(&program, &post, &options()).expect("post");
+    let probe = word_line(&text, "G38.2");
+    for word in ["X1.0000", "Y2.0000", "Z-10.0000", "F80.0000"] {
+        assert!(probe.split_whitespace().any(|token| token == word), "{probe}");
+    }
+    assert!(!text.contains("(probe)"), "{text}");
+    let rapid = word_line(&text, "G0");
+    let cut = word_line(&text, "G1");
+    assert!(text.find(probe).unwrap() < text.find(rapid).unwrap() && text.find(rapid).unwrap() < text.find(cut).unwrap(), "{text}");
+    assert!(cut.split_whitespace().all(|word| !word.starts_with('F')), "{cut}");
+    assert!(word_line(&text, "M64").split_whitespace().any(|word| word == "P0"), "{text}");
+    assert!(word_line(&text, "M65").split_whitespace().any(|word| word == "P0"), "{text}");
+    compare(&program, &read_back(&text, &post).expect("read"), 1e-3, &post).expect("compare");
+}
+
+#[test]
+fn linuxcnc_router_probe_requires_a_pose_and_a_feed() {
+    let post = router();
+    let missing_pose = program(vec![ClBlock::Event(Event::Probe { toward: None, feed: Some(40.0) })]);
+    let err = post_program(&missing_pose, &post, &options()).expect_err("pose");
+    assert!(err.to_string().contains("probe needs a contact pose"), "{err}");
+    let missing_both = program(vec![ClBlock::Event(Event::Probe { toward: None, feed: None })]);
+    let err = post_program(&missing_both, &post, &options()).expect_err("both");
+    assert!(err.to_string().contains("probe needs a contact pose"), "{err}");
+    let missing_feed = program(vec![ClBlock::Event(Event::Probe { toward: Some(pose(0.0, 0.0, -1.0)), feed: None })]);
+    let err = post_program(&missing_feed, &post, &options()).expect_err("feed");
+    assert!(err.to_string().contains("probe needs a feed"), "{err}");
+}
+
+#[test]
+fn linuxcnc_still_comments_a_probe_and_falls_back_to_other() {
+    let post = linux();
+    let params = ProcessParams::new().speed(Some(1000.0)).expect("speed");
+    let program = program(vec![
+        ClBlock::Event(Event::ProcessOn { process: ProcessKind::Other("vacuum".into()), params }),
+        ClBlock::Event(Event::Probe { toward: Some(pose(1.0, 2.0, -3.0)), feed: Some(50.0) }),
+        ClBlock::Event(Event::ProcessOff { process: ProcessKind::Other("vacuum".into()) }),
+    ]);
+    let text = post_program(&program, &post, &options()).expect("post");
+    assert!(text.contains("(probe)"), "{text}");
+    assert!(!text.contains("G38"), "{text}");
+    assert!(!text.contains("M64"), "{text}");
+    assert!(text.split_whitespace().any(|word| word == "M3"), "{text}");
+    assert!(text.split_whitespace().any(|word| word == "S1000"), "{text}");
+}
+
+#[test]
+fn linuxcnc_router_refuses_an_unknown_auxiliary() {
+    let program = program(vec![ClBlock::Event(Event::ProcessOn { process: ProcessKind::Other("waterjet".into()), params: ProcessParams::new() })]);
+    let err = post_program(&program, &router(), &options()).expect_err("waterjet");
+    let text = err.to_string();
+    assert!(text.contains("post `linuxcnc_router` does not accept auxiliary `waterjet`"), "{text}");
+    assert!(text.contains("accepted: vacuum, dust"), "{text}");
+}
+
+#[test]
+fn linuxcnc_router_pin_numbers_and_g38_3_are_post_data() {
+    let mut raw = router_json();
+    raw["digital_out"] = serde_json::json!({});
+    let defaults = load_post(&raw.to_string()).expect("defaults");
+    let open = program(vec![
+        ClBlock::Event(Event::ProcessOn { process: ProcessKind::Other("vacuum".into()), params: ProcessParams::new() }),
+        ClBlock::Event(Event::ProcessOn { process: ProcessKind::Other("dust".into()), params: ProcessParams::new() }),
+    ]);
+    let text = post_program(&open, &defaults, &options()).expect("defaults");
+    assert!(word_line(&text, "M64").split_whitespace().any(|word| word == "P0"), "{text}");
+    assert!(text.lines().any(|line| line.split_whitespace().any(|word| word == "M64") && line.split_whitespace().any(|word| word == "P1")), "{text}");
+    assert!(
+        text.lines().filter(|line| line.split_whitespace().any(|word| word == "M65") && line.split_whitespace().any(|word| word == "P0")).count()
+            == 1,
+        "{text}"
+    );
+
+    raw["digital_out"] = serde_json::json!({ "vacuum_pin": 4, "dust_pin": 7 });
+    raw["probe"]["code"] = serde_json::json!("G38.3");
+    let post = load_post(&raw.to_string()).expect("override");
+    let program = program(vec![
+        ClBlock::Event(Event::ProcessOn { process: ProcessKind::Other("vacuum".into()), params: ProcessParams::new() }),
+        ClBlock::Event(Event::ProcessOn { process: ProcessKind::Other("dust".into()), params: ProcessParams::new() }),
+        ClBlock::Event(Event::Probe { toward: Some(pose(0.0, 0.0, -2.0)), feed: Some(30.0) }),
+    ]);
+    let text = post_program(&program, &post, &options()).expect("override");
+    assert!(text.split_whitespace().any(|word| word == "G38.3"), "{text}");
+    assert!(!text.split_whitespace().any(|word| word == "G38.2"), "{text}");
+    assert!(text.lines().any(|line| line.split_whitespace().any(|word| word == "M64") && line.split_whitespace().any(|word| word == "P4")), "{text}");
+    assert!(text.lines().any(|line| line.split_whitespace().any(|word| word == "M64") && line.split_whitespace().any(|word| word == "P7")), "{text}");
+    assert!(text.lines().any(|line| line.split_whitespace().any(|word| word == "M65") && line.split_whitespace().any(|word| word == "P4")), "{text}");
+    compare(&program, &read_back(&text, &post).expect("read"), 1e-3, &post).expect("compare");
+
+    raw["probe"]["code"] = serde_json::json!("G38.4");
+    let err = load_post(&raw.to_string()).expect_err("g38.4");
+    assert!(err.to_string().contains("probe.code"), "{err}");
+    raw["probe"]["code"] = serde_json::json!("G38.2");
+    raw["digital_out"]["vacuum_pin"] = serde_json::json!(1000);
+    let err = load_post(&raw.to_string()).expect_err("pin");
+    assert!(err.to_string().contains("digital_out.vacuum_pin"), "{err}");
+}
diff --git a/crates/post/src/write.rs b/crates/post/src/write.rs
index ac84f1a..2e5f745 100644
--- a/crates/post/src/write.rs
+++ b/crates/post/src/write.rs
@@ -2010,11 +2010,7 @@ impl<'a> Writer<'a> {
                 if missing {
                     self.comment(&format!("power missing, using S{power}"))?;
                 }
-                self.templates(
-                    "process.on",
-                    &lines,
-                    &[("speed", speed.as_str()), ("power", power.as_str()), ("program_name", ""), ("date-free!", "")],
-                )
+                self.emit_process("process.on", key, &lines, &speed, &power)
             }
             Event::ProcessOff { process } => {
                 let key = process_key(process);
@@ -2032,11 +2028,7 @@ impl<'a> Writer<'a> {
                 let power = active.as_ref().map(|on| on.power.clone()).unwrap_or_else(|| "0".to_string());
                 self.thc_before_off()?;
                 self.note_off(process);
-                self.templates(
-                    "process.off",
-                    &lines,
-                    &[("speed", speed.as_str()), ("power", power.as_str()), ("program_name", ""), ("date-free!", "")],
-                )
+                self.emit_process("process.off", key, &lines, &speed, &power)
             }
             Event::Dwell { seconds } => {
                 self.note_pierce_dwell();
@@ -2050,7 +2042,7 @@ impl<'a> Writer<'a> {
             }
             Event::Coolant { mode } => self.coolant(*mode),
             Event::Comment { text } => self.comment(text),
-            Event::Probe { .. } => self.comment("probe"),
+            Event::Probe { toward, feed } => self.write_probe(toward.as_ref(), *feed),
             Event::Custom { name, .. } => self.comment(&format!("custom {}", sanitize(name))),
             Event::Sync { id } => {
                 if self.multi_channel {
@@ -2173,10 +2165,21 @@ impl<'a> Writer<'a> {
 
     fn process_words(&self, process: &ProcessKind) -> Result<&ProcessWords> {
         let key = process_key(process);
+        if let ProcessKind::Other(name) = process
+            && let Some(allowed) = &self.post.auxiliaries
+        {
+            if !allowed.iter().any(|item| item == name) {
+                let list = allowed.join(", ");
+                let id = self.post.id();
+                return Err(invalid(format!("post `{id}` does not accept auxiliary `{name}`; accepted: {list}")));
+            }
+            return self.post.process.get(key).ok_or_else(|| invalid(format!("process.{key} has no template")));
+        }
         if let Some(words) = self.post.process.get(key) {
             return Ok(words);
         }
-        if matches!(process, ProcessKind::Other(_))
+        if self.post.auxiliaries.is_none()
+            && matches!(process, ProcessKind::Other(_))
             && let Some(words) = self.post.process.get("other")
         {
             return Ok(words);
@@ -2184,6 +2187,37 @@ impl<'a> Writer<'a> {
         Err(invalid(format!("process.{key} has no template")))
     }
 
+    /// `G38.2` is motion group 1 on LinuxCNC, so the next block must restate `G0` or `G1`.
+    /// The contact is not a part move: position stays where it was, and `F` becomes modal.
+    fn write_probe(&mut self, toward: Option<&Pose>, feed: Option<f64>) -> Result<()> {
+        let Some(code) = self.post.probe.as_ref().map(|probe| probe.code.clone()) else {
+            return self.comment("probe");
+        };
+        let Some(pose) = toward else {
+            return Err(invalid("probe needs a contact pose"));
+        };
+        let Some(feed) = feed else {
+            return Err(invalid("probe needs a feed"));
+        };
+        let mut words = vec![code];
+        let tip = pose.tip();
+        self.push_axes(&mut words, [tip.x(), tip.y(), tip.z()])?;
+        self.push_feed(&mut words, Some(feed), true)?;
+        self.linear = None;
+        self.emit_words(&words)
+    }
+
+    fn pin_text(&self, key: &str) -> String {
+        let Some(out) = &self.post.digital_out else {
+            return String::new();
+        };
+        match key {
+            "vacuum" => out.vacuum_pin.to_string(),
+            "dust" => out.dust_pin.to_string(),
+            _ => String::new(),
+        }
+    }
+
     fn note_on(&mut self, process: &ProcessKind, speed: &str, power: &str) {
         self.last_speed = speed.to_string();
         self.last_power = power.to_string();
@@ -2215,7 +2249,7 @@ impl<'a> Writer<'a> {
         let active = std::mem::take(&mut self.on);
         for item in &active {
             let lines = self.lines_for_key(&item.key, false)?;
-            self.emit_process("process.off", &lines, &item.speed, &item.power)?;
+            self.emit_process("process.off", &item.key, &lines, &item.speed, &item.power)?;
         }
         self.suspended.extend(active);
         Ok(())
@@ -2229,7 +2263,7 @@ impl<'a> Writer<'a> {
         let active = std::mem::take(&mut self.suspended);
         for item in active {
             let lines = self.lines_for_key(&item.key, true)?;
-            self.emit_process("process.on", &lines, &item.speed, &item.power)?;
+            self.emit_process("process.on", &item.key, &lines, &item.speed, &item.power)?;
             self.last_speed.clone_from(&item.speed);
             self.last_power.clone_from(&item.power);
             self.on.push(item);
@@ -2239,14 +2273,24 @@ impl<'a> Writer<'a> {
     }
 
     fn lines_for_key(&self, key: &str, on: bool) -> Result<Vec<String>> {
-        let Some(words) = self.post.process.get(key).or_else(|| self.post.process.get("other")) else {
+        let Some(words) = self.words_for_key(key) else {
             return Err(invalid(format!("process.{key} has no template")));
         };
         Ok(if on { words.on.clone() } else { words.off.clone() })
     }
 
-    fn emit_process(&mut self, field_name: &str, lines: &[String], speed: &str, power: &str) -> Result<()> {
-        self.templates(field_name, lines, &[("speed", speed), ("power", power), ("program_name", ""), ("date-free!", "")])
+    /// A post that lists `auxiliaries` does not fall back to `process.other`.
+    fn words_for_key(&self, key: &str) -> Option<&ProcessWords> {
+        if self.post.auxiliaries.is_some() {
+            self.post.process.get(key)
+        } else {
+            self.post.process.get(key).or_else(|| self.post.process.get("other"))
+        }
+    }
+
+    fn emit_process(&mut self, field_name: &str, key: &str, lines: &[String], speed: &str, power: &str) -> Result<()> {
+        let pin = self.pin_text(key);
+        self.templates(field_name, lines, &[("speed", speed), ("power", power), ("pin", pin.as_str()), ("program_name", ""), ("date-free!", "")])
     }
 
     fn arm_thc(&mut self) {
@@ -3069,15 +3113,11 @@ impl<'a> Writer<'a> {
                 self.templates("lathe.spindle_off", &lines, &[("date-free!", "")])?;
                 continue;
             }
-            let Some(words) = self.post.process.get(&active.key).or_else(|| self.post.process.get("other")) else {
+            let Some(words) = self.words_for_key(&active.key) else {
                 return Err(invalid(format!("process.{} has no template", active.key)));
             };
             let off = words.off.clone();
-            self.templates(
-                "process.off",
-                &off,
-                &[("speed", active.speed.as_str()), ("power", active.power.as_str()), ("program_name", ""), ("date-free!", "")],
-            )?;
+            self.emit_process("process.off", &active.key, &off, &active.speed, &active.power)?;
         }
         Ok(())
     }
diff --git a/crates/post/tests/audit.rs b/crates/post/tests/audit.rs
index 65db8d4..bf9e471 100644
--- a/crates/post/tests/audit.rs
+++ b/crates/post/tests/audit.rs
@@ -47,6 +47,16 @@ const MILLS: &[Mill] = &[
         decimal_point: false,
         length: LengthKind::Cancelled,
     },
+    Mill {
+        id: "linuxcnc_router",
+        per_cut: false,
+        laser: false,
+        drop_z: false,
+        rapid_z: true,
+        numbered: true,
+        decimal_point: false,
+        length: LengthKind::Cancelled,
+    },
     Mill { id: "grbl", per_cut: false, laser: false, drop_z: false, rapid_z: true, numbered: false, decimal_point: false, length: LengthKind::Unset },
     Mill {
         id: "mach3",
diff --git a/crates/post/tests/golden/curves.linuxcnc_router.nc b/crates/post/tests/golden/curves.linuxcnc_router.nc
new file mode 100644
index 0000000..08792fc
--- /dev/null
+++ b/crates/post/tests/golden/curves.linuxcnc_router.nc
@@ -0,0 +1,246 @@
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diff --git a/crates/post/tests/golden/dome.linuxcnc_router.nc b/crates/post/tests/golden/dome.linuxcnc_router.nc
new file mode 100644
index 0000000..319e974
--- /dev/null
+++ b/crates/post/tests/golden/dome.linuxcnc_router.nc
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diff --git a/crates/post/tests/golden/sample.linuxcnc_router.nc b/crates/post/tests/golden/sample.linuxcnc_router.nc
new file mode 100644
index 0000000..5016cb4
--- /dev/null
+++ b/crates/post/tests/golden/sample.linuxcnc_router.nc
@@ -0,0 +1,49 @@
+N10 (sample.job)
+N20 G21
+N30 G90
+N40 G17
+N50 G40
+N60 G49
+N70 G64 P0.01
+N80 (toolpath inner)
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diff --git a/docs/job-file.md b/docs/job-file.md
index c00a8b4..4c031ba 100644
--- a/docs/job-file.md
+++ b/docs/job-file.md
@@ -196,6 +196,13 @@ spindle operation (a diameter tool) has no speed, `run` fails with
 nothing. A kerf (torch) operation does not need a speed. Without `--post`, the test-sink NGC
 does not require one.
 
+Vacuum, dust collection, and a tool-length probe are not job operations. A mill job still posts
+spindle, torch, laser, extruder, or knife. `linuxcnc_router` writes IR `Other` processes named
+`vacuum` and `dust` as immediate digital outputs (`M64` / `M65`), and an IR `Probe` event that
+has a contact pose and a feed as `G38.2`. Pin numbers are post parameters (`digital_out`,
+defaults 0 and 1). A mill job posted with that dialect still uses the spindle templates. This
+output has not been proven on a machine.
+
 Roughing leaves `wall` stock on the walls and `floor` stock above the floor. The finish pass
 removes that remaining stock.