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The line
setp cia402.0.csp-mode 1
should make the cia402 put the drive in csp-mode.
OP is required but not enough. For cia402 drivers, they have their own states on top of OP.
The drive needs to be in stat-op-enabled to start moving.
Easiest is to use halshow and navigate to pins,cia402,0 to check the values from the component.
 

Hi all,

I have a setup where the spindle drive provides a spindle-halt signal when the spindle has fully stopped. I’d like to make sure LinuxCNC does not reverse the spindle direction (i.e. switch between M3 and M4) until this spindle-halt signal is true.

Is there a built-in way in LinuxCNC to delay or block a direction change until this signal becomes active? Or do I need to handle this myself, for example using HAL logic or some custom component?

Curious to hear how others have tackled this.

Thanks in advance.