Twin Spindle / Twin Turret turning center

here is config files

I try modify stepgen to position mode without pid and now it's working fine, offset moves is fast.

Well thats odd. PID is preferred


I see P for joint 2 was 100 should be 1000

Can you make a video of the lathe in action - very curious to see!

I don't think that a change in the tool offset should _ever_ cause an axis movement until the next programmed move.

What you describe could happen if the pid pins were connected to the wrong inputs and outputs, but the HAL looks conventional enough.

But, anyway: If an axis moves with just a change in tool offset (rather than just the displayed position changing) then something is wrong somewhere.