4th Axis rotation angle limit problem

I found this answer given by PCW about the mesa stepgen pin:

The stepgens in mesa hardware are built into the firmware and wired to fixed interface pins
( which pins are determined by the particular firmware used )
you do not control them at the pin level but rather by position or velocity commands

Does it mean that it is necessary to address this problem in a completely different way?
Floris

eFalegname wrote: I found this answer given by PCW about the mesa stepgen pin:

The stepgens in mesa hardware are built into the firmware and wired to fixed interface pins
( which pins are determined by the particular firmware used )
you do not control them at the pin level but rather by position or velocity commands

Does it mean that it is necessary to address this problem in a completely different way?

Yes. you will need to switch between different inputs to the hm2_5i25.0.stepgen.NN.velocity-cmd pins.

Still with a mux2, probably.

I am pretty sure that it can still be made to work, but with two PIDs. One for position control and one for velocity control. This is _very_ similar to the spindle-orient problem covered in other posts to this forum.

I've been using Piet's most excellent M100 and M101 commands to toggle between position mode and velocity mode to do some turning projects - thanks!

One minor issue I did run into is that, if I am running in velocity mode (e.g., M100 P80) and I activate the estop, the A axis does stop turning (and all other motion stops), but subsequently bringing the machine out of estop causes the A axis to resume motion. For safety I'd like the A axis to be stopped in this case. In other words, when estop is activated, I'd like to return the A axis to position mode, as if the "M101" command had been run.

I've been reading up about estop chains, etc., but haven't been able to come up with a solution to this.

Has anyone solved this?

Thanks,
--George