CNC Sewing machine question

I added needle and hook as 3rd and 4th rotary axes and they are not slave to xy. X and Y are linear.

By "hook" do you mean "foot"?

If the needle is a rotary axis then you can just make sure you only stop at specific positions?

Hook is the lower part where needle makes the stitch, i attached a picture.
How can i make the rotary axis stop at specific position when suddenly pause is triggered? Thanks.
https://images.app.goo.gl/fYaaSgVXeAkSCTi89

So, you control the hook that loops the thread round the lower bobbin separately from the needle movement? That is unconventional, but I can see that it might actually be simpler than a mechanical linkage.

To only allow program-pause in a cerrtain range of needle travel I would use a wcomp component on needle position and an and2 logic element feeding in to the pause pin. You would also need a modulo component assuming that the needle axis rotates continuously. There isn't one in HAL but the "orient" component will do the job.

We are developing a prototype machine on which three parallel sewing machines will run together on same continuous fabric feed. Currently there is one sewing machine on the prototype, i am trying to solve this problem, after this problem is solved we will attach 2 more sewing machines and i will send a fully operating video, for your opinions.

My own thoughts on how to do this are to have the sewing machine driven by a servo motor. When the CNC program calls for stitching, as in "spindle on" or M03, the
motor runs at some set speed. When the spindle command is turned off, (M05)
then the servo drive is commanded to a lower speed, and when the needle full up
sensor on the sewing machine detects it is there, the motor is stopped. If every
place in the G-code where the spindle is stopped has a short dwell for the needle(s)
to reach full up, then it will be safe to slew to the next part of the embroidery
pattern.

This scheme could be implemented in physical hardware, some simple analog circuits and a FF to trip the servo off when the sensor senses the needle up.

Or, it could all be done with a few HAL components. You couldl also have a
DAC that sets the normal speed and the needle up seek speeds, and use an
enable command to stop each motor at the right time.

Jon