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The c-axis component does not have, as orient does, a pin to indicate that it has reached the commanded position. I need to know when the spindle is in position in order to activate an output. Any idea how to do this?

P I went down to 10 and it was still the same, I don't know if it can be called oscillation, maybe I called it wrong, the axis accelerates and when it reaches a speed above 8.3 m/min there is a loud sound as if the servo lost its position and was trying to make up for it. Should I record a video or halscope? What pins should halscope show when moving? I will add that I made a mistake with 3.3V, it happens at 6.6 V because I have a 2:1 screw servo ratio

Maybe you guy's can also verify the output.

What would be the quickest way to get this installed for testing things?

Not sure if this helps but 'hal_manualtoolchange.py' is a userspace hal component that needs its pins connected to iocontrol in hal so it can create the popups when a change is requested and pass the information on to iocontrol when the change is completed:

I did read about the incremental moves for X and Y, but seems like that doesn't work for the lathe I am using.

Interesting idea about the Fanuc.

Yes this has fixed it! Thanks again.

I configured the spindle orientation with m19, it worked well, but I have a problem that even though I set the same degree every time, it finds different positions of the spindle, for example I give m19r0 it finds a point and stops, but I do the same command again and it doesn't find the same point it goes to another point and stops, in other words it keeps changing the degree 0 of place, sometimes it does this several times in the same place, out of nowhere it goes to another point and if I do it a few more times it stays there. At this point, out of nowhere he changes the point again, can you help?

How low did you adjust P?
 What is the oscillation frequency?

Could you share with me your configuration to use the servo that controls the spindle and also to use it with the C axis?

Lowering P does nothing further, at this point oscillation occurs and F error is displayed. Pastes my configuration files for reference. I tried to power the 7i77 from a separate power supply, it didn't change anything.