spindle with encoder

MAX_OUTPUT = ?
ENCODER_SCALE = ?
OUTPUT_SCALE = ?
OUTPUT_MIN_LIMIT = ?
OUTPUT_MAX_LIMIT = ?

#M64 and M65 digital outputs
net sp-shift-high   motion.digital-out-12     mesacard_pin
net sp-shift-low    motion.digital-out-13     mesacard_pin
#M66 Digital Inputs
net  spindle-stoped  motion.digital-in-09    mesacard_pin
net  sp-is-high      motion.digital-in-12    mesacard_pin
net  sp-is-low       motion.digital-in-13    mesacard_pin

;Erik Salo January 2018
;Okada VM500 Spindle Gearchange program LinuxCNC
;Two speed gearbox. Selects proper range for commanded speed
;Stops spindle prior to gear change
;Special handling for zero, don;t shift down for zero command if in high speed
;Two sensors, one for high and one for low
;Two hydraulic solenoids high and low, turnsoff unselected solenoid


o<setspeed> sub

  o300 IF [#<speed> GT 1250]

  ;Check to see if speed selected is too high
  o010 IF [#<speed> GT 5001]
    (abort, Speed exceeds rated rpm)
  o010 ENDIF

  M66 P12 ;Check if High Gear = True
    o301 if [#5399 GT 0]

      M66 P13 ;Make sure Low Gear = False
        o302 if [#5399 GT 0]
          (abort, spindle still in low gear)
        o302 endif

      S#<speed> ;Set spindle speed with no scaling factor

    o301 endif

  M66 P13 ;Check if Low Gear = True

    o305 if [#5399 GT 0]

      M66 P12 ;Make sure High Gear = False

        o306 if (#5399 GT 0]
          (abort, spindle still in high gear)
        o306 endif
           S0 ; Stop spindle

           M66 P9 L3 Q4 ;Check for spindle stopped - wait up to 4 seconds for digital input 9 to turn on
               o307 if [#5399 LT 0]
                   (abort, spindle not stopped)
               o307 endif

           M65 P13 ; Turn off low gear shift solenoid

           M64 P12 ; Turn on high gear shift solenoid

           M66 P13 L4 Q4 ;Wait for Low Gear = False
               o308 if [#5399 GT 0]
                   (abort, spindle still in low gear)
               o308 endif

           M66 P12 L3 Q4 ;Wait for High Gear = True
               o310 if [#5399 LT 0]
                   (abort, spindle not in high gear)
               o310 endif

           S#<speed> ;Set spindle speed with no scaling factor

       o305 endif

o300 ENDIF

;Low Gear Section
o400 IF [#<speed> LT 1250.1] ;Check if requested speed is less than 1250

   o410 IF [4<speed> GT 0.1] Check to see if requested speed is greater than 0.1

       M66 P13 ;Check if Low Gear = True
       o420 if (#5399 GT 0]

           M66 P12 ;Make sure High Gear = False
               o421 if [#5399 GT 0]
                   (abort, spindle still in high gear)
               o421 endif

   S[#<speed>*2.56] ;Set spindle speed with 4x scaling factor

 o420 endif

 M66 P12 ;Check if High Gear = True
   o430 if [#5399 GT 0]
    M66 P13 ;Make sure Low Gear = False
      o431 if (#5399 GT 0]
        (abort, spindle still in high gear)
      o431 endif

    S0 ; Stop spindle

    M66 P9 L3 Q5 ;Check for spindle stopped
      o432 if [#5399 LT 0]
        (abort, spindle not stopped)
      o432 endif

    M65 P12 ; Turn off high gear shift solenoid

    M64 P13 ; Turn on low gear shift solenoid

    M66 P12 L4 Q4 ;Wait for High Gear = False
      o433 if (#5399 GT 0]
        (abort, spindle still in low gear)
      o433 endif

    M66 P13 L3 Q4 ;Wait for Low Gear = True
      o434 if (#5399 LT 0]
        (abort, spindle not in high gear)
      o434 endif

    S[#<speed>*2.56] ;Set spindle speed with 4x scaling factor

 o430 endif

o410 endif

 o450 IF [#<speed> EQ 0]

   S0
   ; Set spindle speed to zero

 o450 ENDIF

o400 ENDIF

o<setspeed> endsub [1]