bartool/linuxcnc-modbus
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

dokumentacja linuxcnc

Browse Source
This commit is contained in:
bartool
2026-06-05 17:55:39 +02:00
parent d6d963195e
commit 47fc54647d
2 changed files with 454 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

30
hal_motion.md Normal file
View File

@@ -0,0 +1,30 @@
pełna instrukcja -> [MOTMOD](https://linuxcnc.org/docs/stable/html/man/man9/motion.9.html#SPINDLE%20PINS)
## SPINDLE PINS
(M is the spindle number (0 ... num_spindles-1))
| name | dir | format | description |
|:-----|:---:|:------:|:------------|
| spindle.M.amp-fault-in | IN | BIT | Should be driven TRUE if an external fault is detected with the amplifier for this spindle. |
| spindle.M.at-speed | IN | BIT | Motion will pause until this pin is TRUE, under the following conditions: before the first feed move after each spindle start or speed change; before the start of every chain of spindle-synchronized moves; and if in CSS mode, at every rapid->feed transition. |
| spindle.M.brake | OUT | BIT | TRUE when the spindle brake should be applied. |
| spindle.M.forward | OUT | BIT | TRUE when the spindle should rotate forward. |
| spindle.M.index-enable | I/O | BIT | For correct operation of spindle synchronized moves, this signal must be hooked to the index-enable pin of the spindle encoder. |
| spindle.M.inhibit | IN | BIT | When TRUE, the spindle speed is set and held to 0. |
| spindle.M.is-oriented | IN | BIT | Acknowledge pin for spindle-orient. Completes orient cycle. If spindle-orient was true when spindle-is-oriented was asserted, the spindle-orient pin is cleared and the spindle-locked pin is asserted. Also, the spindle-brake pin is asserted. |
| spindle.M.locked | OUT | BIT | Spindle orient complete pin. Cleared by any of M3,M4,M5. |
| spindle.M.on | OUT | BIT | TRUE when spindle should rotate. |
| spindle.M.orient | OUT | BIT | Indicates start of spindle orient cycle. Set by M19. Cleared by any of M3,M4,M5.<br>If spindle-orient-fault is not zero during spindle-orient true, the M19 command fails with an error message. |
| spindle.M.orient-angle | OUT | FLOAT | Desired spindle orientation for M19. Value of the M19 R word parameter plus the value of the [RS274NGC]ORIENT_OFFSET INI parameter. |
| spindle.M.orient-fault | IN | S32 | Fault code input for orient cycle. Any value other than zero will cause the orient cycle to abort. |
| spindle.M.orient-mode | OUT | BIT | Desired spindle rotation mode. Reflects M19 P parameter word. |
| spindle.M.reverse | OUT | BIT | TRUE when the spindle should rotate backward. |
| spindle.M.revs | IN | FLOAT | For correct operation of spindle synchronized moves, this signal must be hooked to the position pin of the spindle encoder. |
| spindle.M.speed-cmd-rps | FLOAT | OUT | Commanded spindle speed in units of revolutions per second. |
| spindle.M.speed-in | IN | FLOAT | Actual spindle speed feedback in revolutions per second; used for G96 (constant surface speed) and G95 (feed per revolution) modes. |
| spindle.M.speed-out | OUT | FLOAT | Desired spindle speed in rotations per minute. |
| spindle.M.speed-out-abs | OUT | FLOAT | Desired spindle speed in rotations per minute, always positive regardless of spindle direction. |
| spindle.M.speed-out-rps | OUT | FLOAT | Desired spindle speed in rotations per second. |
| spindle.M.speed-out-rps-abs | OUT | FLOAT | Desired spindle speed in rotations per second, always positive regardless of spindle direction. |