VMC related HAL questions.

CNCDoc wrote: Problem now is that as soon as motion.spindle − is − oriented becomes high, the spindle stops orienting

That's intended behaviour. What is driving the is-oriented pin? It probably should be a "finshed" signal from the drive.

Signal come from the drives Spu card

motion.spindle - orient needs to be on whole tool exchange. The output in any case

I don't think that M19 will finish without "oriented" being asserted.

The answer might be to send the orient signal to the drive through a latch. There is a latch called "flipflop" that might work, but I think that oneshot would also work and does not need a clock pulse.

linuxcnc.org/docs/2.8/html/man/man9/oneshot.9.html

Make the length long enough for a full toolchange, then assert the reset pin when toolchange is finished.

Is there any advantage to using m19 instead of using M62 - M66 as in the rest of the tool changer sequence?
To control the spindle orient.

CNCDoc wrote: Is there any advantage to using m19 instead of using M62 - M66 as in the rest of the tool changer sequence?

Only a very small one, in that it saves a DIO pin, and the G-code is slightly simpler and clearer.

My solution to the problem. M19 and then check if the spindle is uninterrupted (P6).

Then an M5 at the end of the tool sequence. To stop the orientation.