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Kinematic run without running a program
How do I run the forward kinematic routine to get the current tool tip X Y Z Quaternion without running a program?

Depends where you want the result. If you send the &1p command then the reported data uses the forward kinematics so the routine that sends this command will receive the results. In the forward kinematics you could easily put these results into some global variables so they are then available to all routines in PPmac. You could also embed the forward kinematics in a cfromscript() which could just as well be called from any other script program.
You can also use the PREAD and DREAD command to dump axis actual and commanded positions, respectively, into D-Variables. Check the software reference manual for details.

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