step direction spindle also functions as C axis

I am working on it.

The INI file would be convenient to have too.

This is certainly something that makes more sense as a custom component, but this way is at least more portable.
The way it works is to use a velocity-mode stepgen like you already had, and a PID component to use the velocity-mode stepper for positioning.
When you stop the spindle the HAL components wait for the spindle to stop (using ddt and near) and sets an enable flag. This triggers the storage of a rounded-down version of the current stepgen position (using a mux2, conv_float_s32 and conv_s32_float)
The commanded A-axis position is then added to the rounded stepgen position, and becomes the target for the PID control loop that moves the stepper in angular position mode.

You need to tune the stepgen.3.maxaccel and pid.0.Pgain to work together. If the Pgain is high relative to the maxaccel and maxvelocty then the spindle will oscillate wildy when coming to rest.


Note that in this config the A axis controls spindle angle, and is set so that positions are from 0 to 1 for a full revolution. A scale component with a gain of 1/360 could change this.

In "spindle mode" it is controlled by the usual M3 M4 M5 and S commands.

stevestice wrote:

Hi I am unable to download the files steve

I tried to be too clever.

Try again? I changed the links to point to uploaded files.

stevestice wrote:

Hi got the hal file get a not found error on the ini steve

Strange.

OK, just add PGAIN, IGAIN and DGAIN to the [AXIS_3] section of your existing INI.