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[19:25:19] <mhaberler> cradek: do you have a few minutes to discuss spindle-orient motion details?
[19:27:23] <mhaberler> anybody else in-the-know on spindle-orient (M19) out there?
[19:27:56] <cradek> I don't know about it
[19:28:09] <mhaberler> but you could think it through with me
[19:28:16] <mhaberler> me neither
[19:28:28] <mhaberler> it's called 'level playing field' ;-)
[19:28:37] <cradek> aka 'blind leading the blind'
[19:28:45] <mhaberler> sortof, yes.
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[19:29:15] <mhaberler> I want to make m19 to potentially run in parallel with a move, so motion remembers it's in an orient
[19:29:43] <mhaberler> that mode remains until canceld by m5 or UNORIENT()
[19:30:19] <mhaberler> so: I'm trying to figure how to best handle a spindle_on /spindle_speed after an m19 which hasnt been canceled
[19:30:38] <cradek> are you going to have an orient -> is-oriented hal loopback?
[19:30:39] <mhaberler> option 1: ignore, option2: queue until orient canceld
[19:30:41] <mhaberler> yes
[19:30:51] <mhaberler> also fault line
[19:31:18] <cradek> seems like you'd give an error and abort
[19:31:39] <mhaberler> so the rule is: no spindle-on until m19 canceled
[19:31:52] <mhaberler> else motion reports error
[19:32:16] <mhaberler> sound ok
[19:32:26] <cradek> sounds sane enough to me
[19:32:56] <mhaberler> fair enough, thanks
[19:33:16] <cradek> np
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[20:30:54] <robh__> mhaberler, M03 or M04 always cancels an M19 on 99% of controls
[20:31:24] <mhaberler> does it just cancel or does that cause an error?
[20:31:50] <robh__> cancels the M19 output and runs spindle at commend speed in direction asked
[20:32:32] <mhaberler> that means an m3 after an m19 would not be an error, just cancelling the m19?
[20:32:48] <robh__> correct, same on m4
[20:32:56] <mhaberler> ok, thanks!
[20:58:58] <mhaberler> robh_: is there any difference between the states 'm19 complete and target angle reached' and 'spindle off' ? both have speed=0 and brake on, so no difference, right?
[20:59:40] <mhaberler> I guess there would be if there's a physical spindle lock
[20:59:47] <mhaberler> like a lock pin
[21:07:30] <andypugh> Is the plan to do the orient, or just output a signal for an external PID (or whatever) to do it with?
[21:08:14] <andypugh> I can see it saving a lot of bother on the configs people keep creating where spindle is also a C axis (but isn't really)
[21:09:09] <cradek> you cannot assume you know how to orient the spindle on every machine
[21:09:11] <mhaberler> just signal the minimal HAL pins
[21:09:18] <cradek> yes
[21:09:34] <mhaberler> but it's two scenarios: physical lock pin, or no such pin
[21:11:40] <andypugh> PID control of VFD?
[21:12:29] <mhaberler> works for me ;-)
[21:13:10] <mhaberler> not very exact because of large deadzone on the vfd (turns on over 15rpm only)
[21:13:27] <mhaberler> good to 5degs maybe
[21:13:48] <mhaberler> and then there's the spindle-brake signal which can be used
[21:14:12] <andypugh> I think you could get better with a flux-vector drive, or maybe a hint of inverse deadband.
[21:14:39] <mhaberler> out of cash after building a new house here..
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[22:08:43] <mhaberler> ok, the first cut of spindle-orient support is out:
http://git.mah.priv.at/gitweb/emc2-dev.git/shortlog/refs/heads/orient-spindle
[22:10:58] <mhaberler> andypugh: ah, awallin's idb is a good start
[22:10:59] <JT-Shop> mhaberler: what is M19 for? tool changing?
[22:11:00] <mhaberler> thanks!
[22:11:16] <mhaberler> moving the spindle to a given position, and optionally lock it
[22:11:39] <mhaberler> the actual positioning could be a pid in HAL
[22:11:40] <JT-Shop> like for live tooling on a lathe?
[22:12:04] <mhaberler> uh, 'live tooling' - look, I'm just an MBA
[22:12:11] <mhaberler> whatzat?
[22:12:56] <JT-Shop> you move the spindle to a spot and lock it then you have an endmill or such that spins to cut a slot or whatever
[22:13:09] <JT-Shop> or for drilling holes not in the center of the part
[22:13:14] <mhaberler> oh, I see
[22:13:37] <mhaberler> within a toolchange, you might use m19 during the move to tc position so the tool is in a given orientation for the changer
[22:13:44] <JT-Shop> cool
[22:14:10] <JT-Shop> I'll need that when I convert the BP 308
[22:14:30] <mhaberler> actually it works in parallel with, say, a g30 move while the HAL logic fiddles the spindle in the background
[22:17:12] <mhaberler> here's a remapped m6 manual toolchange with M19 spindle orient, and tool length sensor probe:
http://git.mah.priv.at/gitweb/emc-mill.git/blob/refs/heads/remapped-toolchange-touchoff:/nc_subroutines/manual_change.ngc
[22:17:46] <JT-Shop> cool
[22:22:03] <robh__> mhaberler, nice work ill try check it out some time when i have a few
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[22:22:37] <mhaberler> robh: is that roughly what you wanted?
[22:27:36] <robh__> o nice u put M20 in then
[22:28:59] <mhaberler> not yet in the orient-spindle branch; I just played with remapped codes
[22:29:09] <robh__> what does M19 with no P output? 0
[22:29:15] <mhaberler> yes
[22:30:33] <robh__> ok
[22:30:42] <mhaberler> anyway, I'll crash for the day - cu
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[22:30:48] <robh__> bye
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