Spindle Coordinated motion with Mesa 7i43 & 7i33

• velocity and position feedback read as expected in halshow watch. rps/rpm/revs as expected and confirmed with laser rpm meter
• pid.lathe.index-enable, spindle.1.index-enable and hm7i43.0.encoder.03.index-enable are connected in hal 
• hm7i43.encoder.03.input-index does trigger once as expected when rotated a full rev
• manually setting the index-enable signal chain to true stays true until input-index is triggered.
• input-index trigger event properly sets the index-enable signal back to false and resets spindle.1.revs to 0 
• spindle.1.at-speed is just hardwired to true for now to isolate that from the issue
  
  
  Everything appears to be working correctly at a glance but if I try to issue the following command, no axis motion takes place:
  M3 $1 S100
  G33 K0.1 X2 $1
  
  Also M19 does not work. No spindle motion begins and it will time out after the Q term has elapsed.
  
  Notably, the index-enable signal does not get set to true when G33 command is issued. spindle-orient does seem to get triggered for M19 but the cycle never goes through motion. These could be separate issues I suppose but it feels related like whatever is supposed to set index-enable is not happening and why the cycles never start.
  
  My hal file is below. Thanks in advance for any insight.
  
  note the primary spindle is driven by a separate pwm on the parport sent to a DAC, that is all working fine and can be ignored.
  
  
  
  Code:

  loadrt [KINS]KINEMATICS loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS num_spindles=2 loadrt hostmot2 loadrt hm2_7i43 ioaddr=0x378 ioaddr_hi=0 epp_wide=1 config="firmware=hm2/7i43-4/SVST4_4.BIT num_encoders=4 num_pwmgens=4 num_stepgens=4"  setp    hm2_7i43.0.pwmgen.pwm_frequency 20000 setp    hm2_7i43.0.pwmgen.pdm_frequency 6000000 setp    hm2_7i43.0.watchdog.timeout_ns 5000000 loadrt hal_parport cfg="cc00 out" loadrt pid names=pid.x,pid.y,pid.z,pid.s,pid.lathe addf parport.0.read           servo-thread addf hm2_7i43.0.read          servo-thread addf motion-command-handler   servo-thread addf motion-controller        servo-thread addf pid.x.do-pid-calcs       servo-thread addf pid.y.do-pid-calcs       servo-thread addf pid.z.do-pid-calcs       servo-thread addf pid.s.do-pid-calcs       servo-thread addf pid.lathe.do-pid-calcs       servo-thread addf parport.0.write          servo-thread addf hm2_7i43.0.write         servo-thread   # external output signals loadrt pwmgen output_type=0 addf pwmgen.make-pulses servo-thread addf pwmgen.update servo-thread setp pwmgen.0.pwm-freq  2000 setp pwmgen.0.dither-pwm 1 setp pwmgen.0.max-dc 0.9 setp pwmgen.0.min-dc 0.01 net spindle-speed-cmd spindle.0.speed-out => pwmgen.0.value net spindle-on spindle.0.on => pwmgen.0.enable net spindle-pwm pwmgen.0.pwm => parport.0.pin-09-out # Set the spindle's top speed in RPM  setp pwmgen.0.scale 20500 # external input signals loadrt debounce cfg=4 setp debounce.0.delay 50 addf debounce.0 servo-thread net debounce-y-home-in debounce.0.1.in <= parport.0.pin-13-in-not net debounce-z-home-in debounce.0.2.in <= parport.0.pin-15-in-not  net X-home  debounce.0.1.out =>  joint.0.home-sw-in  joint.1.home-sw-in  net Z-home debounce.0.2.out =>  joint.2.home-sw-in  net debounce-probe-in debounce.0.3.in <= parport.0.pin-12-in-not net probe-in debounce.0.3.out => motion.probe-input setp parport.0.pin-16-out 1 #******************* #  AXIS X JOINT 0 #******************* setp   pid.x.Pgain     [JOINT_0]P setp   pid.x.Igain     [JOINT_0]I setp   pid.x.Dgain     [JOINT_0]D setp   pid.x.bias      [JOINT_0]BIAS setp   pid.x.FF0       [JOINT_0]FF0 setp   pid.x.FF1       [JOINT_0]FF1 setp   pid.x.FF2       [JOINT_0]FF2 setp   pid.x.deadband  [JOINT_0]DEADBAND setp   pid.x.maxoutput [JOINT_0]MAX_OUTPUT setp   pid.x.error-previous-target true net x-index-enable  <=> pid.x.index-enable net x-enable        =>  pid.x.enable net x-pos-cmd       =>  pid.x.command net x-pos-fb        =>  pid.x.feedback net x-output        <=  pid.x.output # ---PWM Generator signals/setup--- setp   hm2_7i43.0.pwmgen.00.output-type 1 setp   hm2_7i43.0.pwmgen.00.scale  [JOINT_0]OUTPUT_SCALE net x-output                             => hm2_7i43.0.pwmgen.00.value net x-pos-cmd    joint.0.motor-pos-cmd net x-enable     joint.0.amp-enable-out  => hm2_7i43.0.pwmgen.00.enable parport.0.pin-03-out # ---Encoder feedback signals/setup--- setp    hm2_7i43.0.encoder.00.counter-mode 0 setp    hm2_7i43.0.encoder.00.filter 1 setp    hm2_7i43.0.encoder.00.index-invert 0 setp    hm2_7i43.0.encoder.00.index-mask 0 setp    hm2_7i43.0.encoder.00.index-mask-invert 0 setp    hm2_7i43.0.encoder.00.scale  [JOINT_0]ENCODER_SCALE net x-pos-fb               <=  hm2_7i43.0.encoder.00.position net x-vel-fb               <=  hm2_7i43.0.encoder.00.velocity net x-pos-fb               =>  joint.0.motor-pos-fb net x-index-enable    joint.0.index-enable  <=>  hm2_7i43.0.encoder.00.index-enable net x-pos-rawcounts        <=  hm2_7i43.0.encoder.00.rawcounts # ---setup home / limit switch signals--- net x-neg-limit     =>  joint.0.neg-lim-sw-in net x-pos-limit     =>  joint.0.pos-lim-sw-in #******************* #  AXIS Y JOINT 1 #******************* setp   pid.y.Pgain     [JOINT_1]P setp   pid.y.Igain     [JOINT_1]I setp   pid.y.Dgain     [JOINT_1]D setp   pid.y.bias      [JOINT_1]BIAS setp   pid.y.FF0       [JOINT_1]FF0 setp   pid.y.FF1       [JOINT_1]FF1 setp   pid.y.FF2       [JOINT_1]FF2 setp   pid.y.deadband  [JOINT_1]DEADBAND setp   pid.y.maxoutput [JOINT_1]MAX_OUTPUT setp   pid.y.error-previous-target true net y-index-enable  <=> pid.y.index-enable net y-enable        =>  pid.y.enable net y-pos-cmd       =>  pid.y.command net y-pos-fb        =>  pid.y.feedback net y-output        <=  pid.y.output # ---PWM Generator signals/setup--- setp   hm2_7i43.0.pwmgen.01.output-type 1 setp   hm2_7i43.0.pwmgen.01.scale  [JOINT_1]OUTPUT_SCALE net y-output                             => hm2_7i43.0.pwmgen.01.value net y-pos-cmd    joint.1.motor-pos-cmd net y-enable     joint.1.amp-enable-out  => hm2_7i43.0.pwmgen.01.enable # ---Encoder feedback signals/setup--- setp    hm2_7i43.0.encoder.01.counter-mode 0 setp    hm2_7i43.0.encoder.01.filter 1 setp    hm2_7i43.0.encoder.01.index-invert 0 setp    hm2_7i43.0.encoder.01.index-mask 0 setp    hm2_7i43.0.encoder.01.index-mask-invert 0 setp    hm2_7i43.0.encoder.01.scale  [JOINT_1]ENCODER_SCALE net y-pos-fb               <=  hm2_7i43.0.encoder.01.position net y-vel-fb               <=  hm2_7i43.0.encoder.01.velocity net y-pos-fb               =>  joint.1.motor-pos-fb net y-index-enable    joint.1.index-enable  <=>  hm2_7i43.0.encoder.01.index-enable net y-pos-rawcounts        <=  hm2_7i43.0.encoder.01.rawcounts # ---setup home / limit switch signals--- net y-neg-limit     =>  joint.1.neg-lim-sw-in net y-pos-limit     =>  joint.1.pos-lim-sw-in #******************* #  AXIS Z JOINT 2 #******************* setp   pid.z.Pgain     [JOINT_2]P setp   pid.z.Igain     [JOINT_2]I setp   pid.z.Dgain     [JOINT_2]D setp   pid.z.bias      [JOINT_2]BIAS setp   pid.z.FF0       [JOINT_2]FF0 setp   pid.z.FF1       [JOINT_2]FF1 setp   pid.z.FF2       [JOINT_2]FF2 setp   pid.z.deadband  [JOINT_2]DEADBAND setp   pid.z.maxoutput [JOINT_2]MAX_OUTPUT setp   pid.z.error-previous-target true net z-index-enable  <=> pid.z.index-enable net z-enable        =>  pid.z.enable net z-pos-cmd       =>  pid.z.command net z-pos-fb        =>  pid.z.feedback net z-output        <=  pid.z.output # ---PWM Generator signals/setup--- setp   hm2_7i43.0.pwmgen.02.output-type 1 setp   hm2_7i43.0.pwmgen.02.scale  [JOINT_2]OUTPUT_SCALE net z-output                             => hm2_7i43.0.pwmgen.02.value net z-pos-cmd    joint.2.motor-pos-cmd net z-enable     joint.2.amp-enable-out  => hm2_7i43.0.pwmgen.02.enable # ---Encoder feedback signals/setup--- setp    hm2_7i43.0.encoder.02.counter-mode 0 setp    hm2_7i43.0.encoder.02.filter 1 setp    hm2_7i43.0.encoder.02.index-invert 0 setp    hm2_7i43.0.encoder.02.index-mask 0 setp    hm2_7i43.0.encoder.02.index-mask-invert 0 setp    hm2_7i43.0.encoder.02.scale  [JOINT_2]ENCODER_SCALE net z-pos-fb               <=  hm2_7i43.0.encoder.02.position net z-vel-fb               <=  hm2_7i43.0.encoder.02.velocity net z-pos-fb               =>  joint.2.motor-pos-fb net z-index-enable    joint.2.index-enable  <=>  hm2_7i43.0.encoder.02.index-enable net z-pos-rawcounts        <=  hm2_7i43.0.encoder.02.rawcounts # ---setup home / limit switch signals--- net z-neg-limit     =>  joint.2.neg-lim-sw-in net z-pos-limit     =>  joint.2.pos-lim-sw-in #****************************** # connect miscellaneous signals #****************************** #  ---HALUI signals--- net axis-select-x  halui.axis.x.select net jog-x-pos      halui.axis.x.plus net jog-x-neg      halui.axis.x.minus net jog-x-analog   halui.axis.x.analog net x-is-homed     halui.joint.0.is-homed net axis-select-y  halui.axis.y.select net jog-y-pos      halui.axis.y.plus net jog-y-neg      halui.axis.y.minus net jog-y-analog   halui.axis.y.analog net y-is-homed     halui.joint.1.is-homed net axis-select-z  halui.axis.z.select net jog-z-pos      halui.axis.z.plus net jog-z-neg      halui.axis.z.minus net jog-z-analog   halui.axis.z.analog net z-is-homed     halui.joint.2.is-homed net jog-selected-pos      halui.axis.selected.plus net jog-selected-neg      halui.axis.selected.minus net spindle-manual-cw     halui.spindle.0.forward net spindle-manual-ccw    halui.spindle.0.reverse net spindle-manual-stop   halui.spindle.0.stop net machine-is-on         halui.machine.is-on net jog-speed             halui.axis.jog-speed net MDI-mode              halui.mode.is-mdi #  ---coolant signals--- net coolant-mist      <=  iocontrol.0.coolant-mist net coolant-flood     <=  iocontrol.0.coolant-flood #  ---probe signal--- net probe-in     =>  motion.probe-input #  ---motion control signals--- net in-position               <=  motion.in-position net machine-is-enabled        <=  motion.motion-enabled #  ---digital in / out signals--- #  ---estop signals--- net estop-out     <=  iocontrol.0.user-enable-out net estop-out     =>  iocontrol.0.emc-enable-in #  ---manual tool change signals--- loadusr -W hal_manualtoolchange net tool-change-request     iocontrol.0.tool-change       =>  hal_manualtoolchange.change net tool-change-confirmed   iocontrol.0.tool-changed      <=  hal_manualtoolchange.changed net tool-number             iocontrol.0.tool-prep-number  =>  hal_manualtoolchange.number net tool-prepare-loopback   iocontrol.0.tool-prepare      =>  iocontrol.0.tool-prepared ### secondary servo spindle (lathe turn axis) on Mesa0 joint3 setp   hm2_7i43.0.pwmgen.03.output-type 1 setp   hm2_7i43.0.pwmgen.03.scale  [SPINDLE_1]OUTPUT_SCALE setp    hm2_7i43.0.encoder.03.counter-mode 0 setp    hm2_7i43.0.encoder.03.filter 1 setp    hm2_7i43.0.encoder.03.index-invert 0 setp    hm2_7i43.0.encoder.03.index-mask 0 setp    hm2_7i43.0.encoder.03.index-mask-invert 0 setp    hm2_7i43.0.encoder.03.scale  [SPINDLE_1]ENCODER_SCALE setp   pid.lathe.Pgain     [SPINDLE_1]P setp   pid.lathe.Igain     [SPINDLE_1]I setp   pid.lathe.Dgain     [SPINDLE_1]D setp   pid.lathe.bias      [SPINDLE_1]BIAS setp   pid.lathe.FF0       [SPINDLE_1]FF0 setp   pid.lathe.FF1       [SPINDLE_1]FF1 setp   pid.lathe.FF2       [SPINDLE_1]FF2 setp   pid.lathe.deadband  [SPINDLE_1]DEADBAND setp   pid.lathe.maxoutput [SPINDLE_1]MAX_OUTPUT setp   pid.lathe.error-previous-target true net lathe-revs             <=  hm2_7i43.0.encoder.03.position net lathe-vel-fb-rps       <=   hm2_7i43.0.encoder.03.velocity net lathe-vel-fb-rpm       <=   hm2_7i43.0.encoder.03.velocity-rpm   net lathe-index-enable hm2_7i43.0.encoder.03.index-enable <=> spindle.1.index-enable  net lathe-index-enable  <=> pid.lathe.index-enable net lathe-vel-cmd-rpm     => pid.lathe.command net lathe-vel-fb-rpm      => pid.lathe.feedback net lathe-enable  pid.lathe.enable => hm2_7i43.0.pwmgen.03.enable net lathe-output   pid.lathe.output => hm2_7i43.0.pwmgen.03.value # ---setup spindle control signals--- net lathe-vel-cmd-rps        <=  spindle.1.speed-out-rps net lathe-vel-cmd-rps-abs    <=  spindle.1.speed-out-rps-abs net lathe-vel-cmd-rpm        <=  spindle.1.speed-out net lathe-vel-cmd-rpm-abs    <=  spindle.1.speed-out-abs net lathe-enable             <=  spindle.1.on  net lathe-cw                 <=  spindle.1.forward net lathe-ccw                <=  spindle.1.reverse net lathe-brake              <=  spindle.1.brake net lathe-revs               =>  spindle.1.revs net lathe-at-speed           =>  spindle.1.at-speed net lathe-vel-fb-rps         =>  spindle.1.speed-in  

jatimo wrote:

[*]spindle.1.at-speed is just hardwired to true for now to isolate that from the issue