Multispindle: Docs Update

Signed-off-by: andy pugh <andy@bodgesoc.org>

Author: andypugh

docs/html/gcode.html

@@ -56,20 +56,20 @@
 <TR><TD><A HREF="gcode/g-code.html#gcode:g5.1">G5.1</A><TD>I J<TD>Quadratic Spline</TR>
 <TR><TD><A HREF="gcode/g-code.html#gcode:g5.2-g5.3">G5.2</A><TD>P L<TD>NURBS</TR>
 <TR><TD><A HREF="gcode/g-code.html#gcode:g38">G38.2 - G38.5</A><TD><TD>Straight Probe</TR>
-<TR><TD><A HREF="gcode/g-code.html#gcode:g33">G33</A><TD>K<TD>Spindle Synchronized Motion</TR>
-<TR><TD><A HREF="gcode/g-code.html#gcode:g33.1">G33.1</A><TD>K<TD>Rigid Tapping</TR>
+<TR><TD><A HREF="gcode/g-code.html#gcode:g33">G33</A><TD>K ($)<TD>Spindle Synchronized Motion</TR>
+<TR><TD><A HREF="gcode/g-code.html#gcode:g33.1">G33.1</A><TD>K ($)<TD>Rigid Tapping</TR>
 <TR><TD><A HREF="gcode/g-code.html#gcode:g80">G80</A> <TD><TD>Cancel Canned Cycle</TR>
 
 <TR><TH>Canned cycles<TD COLSPAN=2>(X Y Z or U V W apply to canned cycles, depending on active plane)</TR>
 <TR><TD><A HREF="gcode/g-code.html#gcode:g81">G81</A><TD>R L (P)<TD>Drilling Cycle</TR>
 <TR><TD><A HREF="gcode/g-code.html#gcode:g82">G82</A><TD>R L (P)<TD>Drilling Cycle, Dwell</TR>
 <TR><TD><A HREF="gcode/g-code.html#gcode:g83">G83</A><TD>R L Q<TD>Drilling Cycle, Peck</TR>
-<TR><TD><A HREF="gcode/g-code.html#gcode:g84">G84</A><TD>R L (P)<TD>Right-hand Tapping Cycle, Dwell</TR>
+<TR><TD><A HREF="gcode/g-code.html#gcode:g84">G84</A><TD>R L (P) ($)<TD>Right-hand Tapping Cycle, Dwell</TR>
 <TR><TD><A HREF="gcode/g-code.html#gcode:g73">G73</A><TD>R L Q<TD>Drilling Cycle, Chip Breaking</TR>
-<TR><TD><A HREF="gcode/g-code.html#gcode:g74">G74</A><TD>R L (P)<TD>Left-hand Tapping Cycle, Dwell</TR>
+<TR><TD><A HREF="gcode/g-code.html#gcode:g74">G74</A><TD>R L (P) ($)<TD>Left-hand Tapping Cycle, Dwell</TR>
 <TR><TD><A HREF="gcode/g-code.html#gcode:g85">G85</A><TD>R L (P)<TD>Boring Cycle, Feed Out</TR>
 <TR><TD><A HREF="gcode/g-code.html#gcode:g89">G89</A><TD>R L (P)<TD>Boring Cycle, Dwell, Feed Out</TR>
-<TR><TD><A HREF="gcode/g-code.html#gcode:g76">G76</A><TD>P Z I J R K Q H L E<TD>Threading Cycle</TR>
+<TR><TD><A HREF="gcode/g-code.html#gcode:g76">G76</A><TD>P Z I J R K Q H L E ($)<TD>Threading Cycle</TR>
 
 <TR><TH COLSPAN=3>Distance Mode</TR>
 <TR><TD><A HREF="gcode/g-code.html#gcode:g90-g91">G90, G91</A><TD><TD>Distance Mode</TR>
@@ -78,12 +78,12 @@
 <TR><TD><A HREF="gcode/g-code.html#gcode:g8">G8</A><TD><TD>Lathe Radius Mode</TR>
 
 <TR><TH COLSPAN=3>Feed Rate Mode </TR>
-<TR><TD><A HREF="gcode/g-code.html#gcode:g93-g94-g95">G93, G94, G95</A><TD><TD>Feed Rate Mode</TR>
+<TR><TD><A HREF="gcode/g-code.html#gcode:g93-g94-g95">G93, G94, G95</A><TD>S ($)<TD>Feed Rate Mode</TR>
 
 <TR><TH COLSPAN=3>Spindle Control </TR>
-<TR><TD><A HREF="gcode/m-code.html#mcode:m3-m4-m5">M3, M4, M5</A><TD>S<TD>Spindle Control</TR>
-<TR><TD><A HREF="gcode/m-code.html#mcode:m19">M19</A><TD><TD>Orient Spindle</TR>
-<TR><TD><A HREF="gcode/g-code.html#gcode:g96-g97">G96, G97</A><TD> S D <TD>Spindle Control Mode</TR>
+<TR><TD><A HREF="gcode/m-code.html#mcode:m3-m4-m5">M3, M4, M5</A><TD>S ($)<TD>Spindle Control</TR>
+<TR><TD><A HREF="gcode/m-code.html#mcode:m19">M19</A><TD>R Q (P) ($)<TD>Orient Spindle</TR>
+<TR><TD><A HREF="gcode/g-code.html#gcode:g96-g97">G96, G97</A><TD> S D ($)<TD>Spindle Control Mode</TR>
 
 <TR><TH COLSPAN=3>Coolant </TR>
 <TR><TD><A HREF="gcode/m-code.html#mcode:m7-m8-m9">M7, M8, M9</A><TD><TD>Coolant Control</TR>
@@ -119,11 +119,11 @@
 
 <TR><TH COLSPAN=3>Other Modal Codes </TR>
 <TR><TD><A HREF="gcode/other-code.html#sec:set-feed-rate">F</A><TD><TD>Set Feed Rate</TR>
-<TR><TD><A HREF="gcode/other-code.html#sec:set-spindle-speed">S</A><TD><TD>Set Spindle Speed</TR>
+<TR><TD><A HREF="gcode/other-code.html#sec:set-spindle-speed">S</A><TD>($)<TD>Set Spindle Speed</TR>
 <TR><TD><A HREF="gcode/other-code.html#sec:select-tool">T</A><TD><TD>Select Tool</a>)</TR>
 <TR><TD><A HREF="gcode/m-code.html#mcode:m48-m49">M48, M49</A><TD><TD>Speed and Feed Override Control</TR>
 <TR><TD><A HREF="gcode/m-code.html#mcode:m50">M50</A><TD>P0 (off) or P1 (on)<TD>Feed Override Control</TR>
-<TR><TD><A HREF="gcode/m-code.html#mcode:m51">M51</A><TD>P0 (off) or P1 (on)<TD>Spindle Speed Override Control</TR>
+<TR><TD><A HREF="gcode/m-code.html#mcode:m51">M51</A><TD>P0 (off) or P1 (on) ($)<TD>Spindle Speed Override Control</TR>
 <TR><TD><A HREF="gcode/m-code.html#mcode:m52">M52</A><TD>P0 (off) or P1 (on)<TD>Adaptive Feed Control</TR>
 <TR><TD><A HREF="gcode/m-code.html#mcode:m53">M53</A><TD>P0 (off) or P1 (on)<TD>Feed Stop Control</TR>
 <TR><TD><A HREF="gcode/g-code.html#gcode:g54-g59.3">G54-G59.3</A><TD><TD>Select Coordinate System</TR>

docs/man/man9/motion.9

@@ -8,11 +8,12 @@
 .SH NAME
 motion \- accepts NML motion commands, interacts with HAL in realtime
 .SH SYNOPSIS
-\fBloadrt motmod [base_period_nsec=\fIperiod\fB] [base_thread_fp=\fI0 or 1\fB] [servo_period_nsec=\fIperiod\fB] [traj_period_nsec=\fIperiod\fB] [num_joints=\fI[1-9]\fB] [num_dio=\fI[1-64]\fB] [num_aio=\fI[1-64]\fB]\fR  \fB[unlock_joints_mask=\fR\fIjointmask\fR\fB]\fR
+\fBloadrt motmod [base_period_nsec=\fIperiod\fB] [base_thread_fp=\fI0 or 1\fB] [servo_period_nsec=\fIperiod\fB] [traj_period_nsec=\fIperiod\fB] [num_joints=\fI[1-9]\fB] [num_dio=\fI[1-64]\fB] [num_aio=\fI[1-64]\fB]\fR [num_spindles=\fI[1-8]\fB]\fR  \fB[unlock_joints_mask=\fR\fIjointmask\fR\fB]\fR
 
 The maximum number of joints available is set by EMCMOT_MAX_JOINTS.
 The maximum number of digital inputs is set by EMCMOT_MAX_DIO.
 The maximum number of analog inputs is set by EMCMOT_MAX_AIO.
+The maximum number of spindles available is set by EMCMOT_MAX_SPINDLES
 
 .SH DESCRIPTION
 By default, the base thread does not support floating point.  Software stepping, software encoder counting, and software pwm do not use floating point.  \fBbase_thread_fp\fR can be used to enable floating point in the base thread (for example for brushless DC motor control).

docs/src/gcode/g-code.txt

@@ -942,7 +942,7 @@ It is an error if :
 (((G33 Spindle Synchronized Motion)))
 
 ----
-G33 X- Y- Z- K-
+G33 X- Y- Z- K- $-
 ----
 * 'K' - distance per revolution
 
@@ -954,6 +954,10 @@ This command might be part of a program to produce a 16TPI thread.
 Another example in metric, 'G33 Z-15 K1.5' produces
 a movement of 15mm while the spindle rotates 10 times for a thread of 1.5mm.
 
+The (optional) $ argument sets which spindle the motion is synchronised
+to (default is zero). For example G33 Z10 K1 $1 will move the spindle in
+synchrony with the spindle.N.revs HAL pin value. 
+
 Spindle-synchronized motion waits for the spindle index and spindle at speed
 pins, so multiple passes line up. 'G33' moves end at the programmed endpoint.
 G33 could be used to cut tapered threads or a fusee.
@@ -976,8 +980,11 @@ finishes accelerating to the proper speed, and can immediately begin
 cutting a good thread.
 
 .HAL Connections
-The pins 'spindle.N.at-speed' and the 'encoder.n.phase-Z' for the
-spindle must be connected in your HAL file before G33 will work.
+The pin 'spindle.N.at-speed' must be set or driven true for the motion to
+start. Additionally spindle.N.revs must increase by 1 for each revolution
+of the spindle and the spindle.N.index-enable pin must be connected to
+an encoder (or resolver) counter which resets index-enable once per rev.
+
 See the Integrators Manual for more information on spindle synchronized motion.
 
 .G33 Example
@@ -1004,10 +1011,11 @@ It is an error if:
 (((G33.1 Rigid Tapping)))
 
 ----------------
-G33.1 X- Y- Z- K- I-
+G33.1 X- Y- Z- K- I- $-
 ----------------
 * 'K' - distance per revolution
 * 'I' - optional spindle speed multiplier for faster return move
+* '$' - optional spindle selector
 
 [WARNING]
 For Z only tapping preposition the XY location prior to calling G33.1 and only
@@ -1023,8 +1031,8 @@ for each revolution of the spindle.
 A rigid tapping move consists of the following sequence:
 
 . A move from the current coordinate to the specified coordinate, synchronized
-   with the spindle at the given ratio and starting from the current coordinate
-   with a spindle index pulse.
+   with the selected spindle at the given ratio and starting from the
+   current coordinate with a spindle index pulse.
 . When reaching the endpoint, a command to reverse the spindle, and speed up
   by a factor set by the multiplier (e.g., from clockwise to counterclockwise).
 . Continued synchronized motion beyond the specified end coordinate
@@ -1496,7 +1504,7 @@ It is an error if:
 (((G74 Left-hand Tapping Cycle Dwell)))
 
 ----
-G74 (X- Y- Z-) or (U- V- W-) R- L- P-
+G74 (X- Y- Z-) or (U- V- W-) R- L- P- $-
 ----
 
 The 'G74' cycle is intended for tapping with floating chuck and dwell at the bottom of the hole.
@@ -1508,7 +1516,7 @@ The 'G74' cycle is intended for tapping with floating chuck and dwell at the bot
 
     3. Move the Z-axis at the current feed rate to the Z position.
 
-    4. Stop Spindle.
+    4. Stop the selected spindle (chosen by the $ parameter)
 
     5. Start spindle rotation clockwise.
 
@@ -1526,7 +1534,7 @@ In example S100 F125 gives pitch of 1.25MM per revolution.
 (((G76 Threading Cycle)))
 
 ----
-G76 P- Z- I- J- R- K- Q- H- E- L-
+G76 P- Z- I- J- R- K- Q- H- E- L- $-
 ----
 
 .G76 Threading
@@ -1558,6 +1566,11 @@ threading cut will be 'K' beyond the 'thread peak' position.
 
 Optional settings
 
+* '$-' - The spindle number to which the motion will be synchronised
+(default 0). For example is $1 is programmed then the motion will begin
+on the reset od spindle.1.index-enable and proceed in synchrony with the
+value of spindle.1.revs
+
 * 'R-' - The 'depth degression'. 'R1.0' selects constant depth on successive
 threading passes. 'R2.0' selects constant area. Values between 1.0 and
 2.0 select decreasing
@@ -2094,7 +2107,7 @@ It is an error if:
 (((G84 Right-hand Tapping Cycle Dwell)))
 
 ----
-G84 (X- Y- Z-) or (U- V- W-) R- L- P-
+G84 (X- Y- Z-) or (U- V- W-) R- L- P- $-
 ----
 
 The 'G84' cycle is intended for tapping with floating chuck and dwell at the bottom of the hole.
@@ -2106,7 +2119,7 @@ The 'G84' cycle is intended for tapping with floating chuck and dwell at the bot
 
     3. Move the Z-axis at the current feed rate to the Z position.
 
-    4. Stop spindle
+    4. Stop the seleted spindle (chosen by the $ parameter)
 
     5. Start spindle rotation counterclockwise.
 
@@ -2143,7 +2156,7 @@ for drilling or milling.
 (((G86 Boring, Spindle Stop, Rapid Move Out)))
 
 ----
-G86 (X- Y- Z-) or (U- V- W-) R- L- P-
+G86 (X- Y- Z-) or (U- V- W-) R- L- P- $-
 ----
 
 The 'G86' cycle is intended for boring. This cycle uses a P number
@@ -2154,7 +2167,7 @@ for the number of seconds to dwell.
  . Move the Z-axis only at the current <<sec:set-feed-rate,feed rate>> to the Z
    position.
  . Dwell for the P number of seconds.
- . Stop the spindle turning.
+ . Stop the selected spindle turning. (Chosen by the $ parameter)
  . The Z-axis does a <<gcode:g0,rapid move>> to clear Z.
  . Restart the spindle in the direction it was going. 
 
@@ -2340,7 +2353,8 @@ controlled point should move a certain number of inches per revolution
 of the spindle, depending on what length units are being used and which
 axis or axes are moving. G95 is not suitable for threading, for
 threading use G33 or G76.
-G95 requires that spindle.N.speed-in to be connected.
+G95 requires that spindle.N.speed-in to be connected. The actual spindle
+to which the feed is synchronised is chosen by the $ parameter
 
 It is an error if:
 
@@ -2353,22 +2367,26 @@ It is an error if:
 (((G96, G97 Spindle Control Mode)))
 
 ----
-G96 <D-> S- (Constant Surface Speed Mode)
-G97 (RPM Mode)
+G96 <D-> S- <$-> (Constant Surface Speed Mode)
+G97 S- <$-> (RPM Mode)
 ----
 
 * 'D' - maximum spindle RPM
 * 'S' - surface speed
+* '$" - the spindle of which the speed will be varied. 
 
 * 'G96 D- S-' - selects constant surface speed of 'S' feet per minute
                 (if G20 is in effect) or meters per minute
                 (if G21 is in effect). D- is optional.
 +                
 When using G96, ensure that X0 in
 the current coordinate system (including offsets and tool lengths) is
-the center of rotation or LinuxCNC will not give the desired spindle speed.
+the center of rotation or LinuxCNC will not give the desired ssurface speed.
 G96 is not affected by radius or diameter mode.
 
+To achieve CSS mode on selected spindles programme successive G96 commands
+for each spindle prior to issuing M3.
+
 * 'G97' selects RPM mode.
 
 .G96 Example Line

docs/src/gcode/m-code.txt

@@ -104,9 +104,30 @@ Using % to wrap the G code does not do the same thing as a 'Program End'. See
 == M3, M4, M5 Spindle Control
 (((M3, M4, M5 Spindle Control)))
 
-* 'M3' - start the spindle clockwise at the 'S' speed.
-* 'M4' - start the spindle counterclockwise at the 'S' speed.
-* 'M5' - stop the spindle.
+* 'M3' - start the selected spindle clockwise at the 'S' speed.
+* 'M4' - start the selected spindle counterclockwise at the 'S' speed.
+* 'M5' - stop the selected spindle.
+
+Use $ to operate on specific spindles. If $ is omitted then thr commands
+operate on all spindles. 
+
+For example 
+[source,{ngc}]
+---
+S100 $0
+S200 $1
+S300 $2 
+M3
+----
+Will start all three spindles simultaneously at different speeds
+[source,{ngc]]
+----
+M4 $1
+----
+Will then reverse spindle 1 but leave the other spindles rotating forwards.
+
+If the $ is omitted then behaviour is exactly as normal for a single
+spindle machine
 
 It is OK to use 'M3' or 'M4' if the <<sec:set-spindle-speed,S>>
 spindle speed is set to zero. If this is done
@@ -180,7 +201,7 @@ state.
 == M19 Orient Spindle
 (((M19 Orient Spindle)))
 
-* 'M19 R- Q- [P-]'
+* 'M19 R- Q- [P-] [$-]'
 
 * 'R' Position to rotate to from 0, valid range is 0-360 degrees
 
@@ -193,6 +214,8 @@ state.
 ** '1' always rotate clockwise (same as M3 direction)
 ** '2' always rotate counterclockwise (same as M4 direction)
 
+* '$' The spindle to orient (actually only determines which HAL pins
+carry the spindle position commands)
 
 M19 is cleared by any of M3,M4,M5.
 
@@ -238,6 +261,9 @@ Spindle orient complete pin. Cleared by any of M3,M4,M5.
 * 'M48' - enable the spindle speed and feed rate override controls.
 * 'M49' - disable both controls.
 
+These commands also take an optional $ parameter to determine which
+spindle they operate on. 
+
 It is OK to enable or disable the controls when 
 they are already enabled or disabled. 
 See the <<sub:feed-rate,Feed Rate>> Section for more details.
@@ -258,13 +284,13 @@ and the motion will be executed at programmed feed rate.
 == M51 Spindle Speed Override Control
 (((M51 Spindle Speed Override)))
 
-* 'M51 <P1>' - enable the spindle speed override control. The P1
-               is optional. 
-* 'M51 P0' - disable the spindle speed override control program.
-             While disabled the spindle speed override will have
-             no influence, and the spindle speed will have the
-             exact program specified value of the S-word
-             (described in <<sec:set-spindle-speed,Spindle Speed>> Section).
+* 'M51 <P1> <$->'- enable the spindle speed override control for the
+                   selected spindle. The  P1 is optional. 
+* 'M51 P0 <$->'  - disable the spindle speed override control program.
+                   While disabled the spindle speed override will have
+                   no influence, and the spindle speed will have the
+                   exact program specified value of the S-word
+                   (described in <<sec:set-spindle-speed,Spindle Speed>> Section).
 
 [[mcode:m52]]
 == M52 Adaptive Feed Control