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Thread: Journeyman 325 retrofit

  1. #25
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    Default Re: Journeyman 325 retrofit

    Tom,

    I think I have this configured correctly, but I wanted to run it past you first.

    The original Dynapath Delta 20 controller did not take encoder feedback from the spindle.
    I discovered that the Yakasawa spindle drive has an encoder output, so I have wired this to Channel 4 / Input Channel 4 on the Kanalog encoder input.
    This is the spindle channel on my setup.

    Channel 4 is configured open loop as the instructions direct, with the parameters from them on your last post.

    The spindle drive also has output bits which indicate spindle at 0 speed and spindle at commanded speed.
    I have inserted while loops to monitor these bits in the attached code.
    Please let me know if you think this is necessary or redundant.
    Aside from these modifications, the files are unchanged.

    Also, I could not find these files in the KMotion CSS folder. I downloaded them from the CNCZone forum on another thread.

    Thanks,
    Rick

    *** MySpindleDefs.c

    Code:
    #define SPINDLEAXIS 4			// Axis Channel to Jog to rotate Spindle
    #define FACTOR (1/6090)  		// to convert RPM to counts/sec (counts/rev / 60.0sec)
    #define SPINDLECW_BIT    		// bit to activate to cause CW rotation
    #define SPINDLECCW_BIT 		// bit to activate to cause CCW rotation
    #define SPEEDVAR 99			// global persistant variable to store latest speed
    #define STATEVAR 98			// global persistant variable to store latest state (-1=CCW,0=off,1=CW)
    #define KMVAR PC_COMM_CSS_S 113		// variable KMotionCNC will pass speed parameter (113)
    #define USE_POS_NEG_VOLTAGE 1 		// 0 = output Magnitude, 1 = output positive and negative speed 
    #define J325_SPINDLE_CHANGING_SPEED 140	// Bit goes low when spindle is at command speed, 1 when changing
    #define J325_SPINDLE_0_SPEED 139	// Bit goes high when spindle is at 0 speed
    *** Offjog.c

    Code:
    #include "KMotionDef.h"
    #include "MySpindleDefs.h"
    
    // desired speed is passed from KMotionCNC in variable KMVAR
    // save in user variable STATEVAR whether it was off, CW, or CCW (0,1,-1)
    // save in user variable SPEEDVAR the last desired speed
    
    main()
    {
    	// spin down
    	
    	//ClearBit(SPINDLECW_BIT);
    	//ClearBit(SPINDLECCW_BIT);
    	Jog(SPINDLEAXIS,0);
    
    	// Wait for spindle to stop
    	while (!J325_SPINDLE_0_SPEED);
    
    	printf("Jogging Spindle Stop\n");
    	persist.UserData[STATEVAR] = 0;  // remember we are Off
    	while (!CheckDone(SPINDLEAXIS)) ;
    }
    *** CSSjog.c

    Code:
    // Handle CSS (Constant Surface Speed) messages from KMotionCNC)
    //
    // This code assumes you have an Axis Channel Configured to control
    // Spindle speed and Jog Calls can be made to control speed
    //
    // Include this function into your main Init Thead code and call it
    // continuously from a forever loop similar to that shown here
     
    //#include "KMotionDef.h"
    //#include "MySpindleDefs.h"
    //#include "CSSJog.c"
    //main()
    //{
    //	for (;;)
    //	{
    //		WaitNextTimeSlice();
    //		ServiceCSS();
    //	}
    //}
    
    int   *css_mode = &persist.UserData[PC_COMM_CSS_MODE];			// Mode 1=Normal RPM mode. 2=CSS
    float *css_xoff = &persist.UserData[PC_COMM_CSS_X_OFFSET];		// X axis counts for Radius zero
    float *css_xfactor = &persist.UserData[PC_COMM_CSS_X_FACTOR];	// X axis factor to convert counts to inches 
    float *css_s = &persist.UserData[PC_COMM_CSS_S];				// S speed setting in inches/sec
    float *css_max_rpm = &persist.UserData[PC_COMM_CSS_MAX_RPM];	// Limit max RPM to this value as Radius approaches zero
    
    double css_T=0;  // update only every so often
    #define CSS_UPDATE_DT 0.05
    
    void ServiceCSS(void)
    {
    	float rpm;
    	double T=Time_sec();
    
    	if (*css_mode == 2 && T > css_T) // check if we are in CSS mode and it is time to update
    	{
    		css_T=T+CSS_UPDATE_DT;  // determine next time to update
    		
    		// convert axis position to distance from center in inches
    		float radius = fast_fabs((chan[CS0_axis_x].Dest - *css_xoff) * *css_xfactor);
    		
    		if (radius > 0.0f)
    			rpm = *css_s / (radius * (TWO_PI_F/60.0f));
    		else
    			rpm = *css_max_rpm;
    
    		if (rpm > *css_max_rpm) rpm = *css_max_rpm;
    				
    		if (persist.UserData[STATEVAR]!=0)  // if spindle is already on, ramp to new speed
    		{
    			if (USE_POS_NEG_VOLTAGE)
    			{
    				Jog(SPINDLEAXIS,rpm * FACTOR * persist.UserData[STATEVAR]);
    
    				// Wait for spindle to reach commanded speed
    				while (J325_SPINDLE_CHANGING_SPEED);
    			}
    			else
    				Jog(SPINDLEAXIS,rpm * FACTOR);
    		}
    		
    //		printf("xoff=%f radius= %f xfactor=%f s=%f(ips) maxrpm=%f rpm=%f\n",*css_xoff,radius,*css_xfactor,*css_s,*css_max_rpm,rpm);
    	}
    }
    *** Spindlejog.c

    Code:
    #include "KMotionDef.h"
    
    #include "MySpindleDefs.h"
    
    int   *css_mode = &persist.UserData[PC_COMM_CSS_MODE];			// Mode 1=Normal RPM mode. 2=CSS
    
    // desired speed is passed from KMotionCNC in variable KMVAR
    // save in user variable STATEVAR whether it was off, CW, or CCW (0,1,-1)
    // save in user variable SPEEDVAR the last desired speed
    
    main()
    {
    	float speed = *(float *)&persist.UserData[KMVAR];  // value stored is actually a float 
    	float LastState = persist.UserData[STATEVAR];  // get last state 
    	
    	persist.UserData[SPEEDVAR] = persist.UserData[KMVAR];  // Always save the last desired speed 
    	
    	if (LastState==0 || *css_mode == 2)  
    	{
    		// if spindle is off (or CSS mode) and User Changes the speed 
    		// just save the desired speed
    		
    		return 0;
    	}
    	
    	// spindle is already on, so ramp to new speed
    	if (USE_POS_NEG_VOLTAGE)
    	{
    		Jog(SPINDLEAXIS,speed * FACTOR * LastState);
    
    		// Wait for spindle to reach commanded speed
    		while (J325_SPINDLE_CHANGING_SPEED);
    	}
    	else
    		Jog(SPINDLEAXIS,speed * FACTOR);
    		
    	printf("Jogging Spindle %f counts/sec\n",speed * FACTOR);
    }
    *** OnCW.c

    Code:
    #include "KMotionDef.h"
    
    #include "MySpindleDefs.h"
    
    int   *css_mode = &persist.UserData[PC_COMM_CSS_MODE];			// Mode 1=Normal RPM mode. 2=CSS
    
    // desired speed is passed from KMotionCNC in variable KMVAR
    // save in user variable STATEVAR whether it was off, CW, or CCW (0,1,-1)
    // save in user variable SPEEDVAR the last desired speed
    
    main()
    {
    	float speed = *(float *)&persist.UserData[SPEEDVAR];  // value stored is actually a float 
    	float LastState = persist.UserData[STATEVAR];  // get last state 
    	
    	if (LastState==-1)  
    	{
    		// if spindle was CCW now we want CW 
    		// spin down
    		
    		//ClearBit(SPINDLECW_BIT);
    		//ClearBit(SPINDLECCW_BIT);
    		Jog(SPINDLEAXIS,0);
    		while (!CheckDone(SPINDLEAXIS)) ;
    
    		// Wait for spindle to stop
    		while (!J325_SPINDLE_0_SPEED);
    	}
    	
    	// turn spindle on CW and ramp to new speed
    	SetBit(SPINDLECW_BIT);
    	
    	if (*css_mode != 2)
    	{
    		// spindle is already on, so ramp to new speed
    		if (USE_POS_NEG_VOLTAGE)
    		{
    			Jog(SPINDLEAXIS,speed * FACTOR * LastState);
    
    			// Wait for spindle to reach commanded speed
    			while (J325_SPINDLE_CHANGING_SPEED);
    		}
    			
    		else
    			Jog(SPINDLEAXIS,speed * FACTOR);
    		printf("Jogging Spindle %f counts/sec\n",speed * FACTOR);
    	}
    	persist.UserData[STATEVAR] = 1;  // remember we are CW
    }
    *** OnCCW.c
    Code:
    #include "KMotionDef.h"
    
    #include "MySpindleDefs.h"
    
    int   *css_mode = &persist.UserData[PC_COMM_CSS_MODE];			// Mode 1=Normal RPM mode. 2=CSS
    
    // desired speed is passed from KMotionCNC in variable KMVAR
    // save in user variable STATEVAR whether it was off, CW, or CCW (0,1,-1)
    // save in user variable SPEEDVAR the last desired speed
    
    main()
    {
    	float speed = *(float *)&persist.UserData[SPEEDVAR];  // value stored is actually a float 
    	float LastState = persist.UserData[STATEVAR];  // get last state 
    	
    	if (LastState==1)  
    	{
    		// if spindle was CW now we want CCW 
    		// spin down
    		
    		//ClearBit(SPINDLECW_BIT);
    		//ClearBit(SPINDLECCW_BIT);
    		Jog(SPINDLEAXIS,0);
    		while (!CheckDone(SPINDLEAXIS)) ;
    
    		// Wait for spindle to stop
    		while (!J325_SPINDLE_0_SPEED);
    	}
    	
    	// turn spindle on CCW and ramp to new speed
    	SetBit(SPINDLECCW_BIT);
    	
    	if (*css_mode != 2)
    	{
    		// spindle is already on, so ramp to new speed
    		if (USE_POS_NEG_VOLTAGE)
    		{
    			Jog(SPINDLEAXIS,speed * FACTOR * LastState);
    
    			// Wait for spindle to reach commanded speed
    			while (J325_SPINDLE_CHANGING_SPEED);
    		}
    		else
    			Jog(SPINDLEAXIS,speed * FACTOR);
    		
    		printf("Jogging Spindle %f counts/sec\n",speed * FACTOR);
    	}	
    	persist.UserData[STATEVAR] = -1;  // remember we are CCW
    }




  2. #26
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    Default Re: Journeyman 325 retrofit

    The CSS sample files are in the SpindleUsingJogs directory in C Programs, however why are you using CSS on mill?

    If you're using the KFlop to close the loop, then the spindle at speed and stopped inputs could be handled via some C code, but what you've done looks simpler.



  3. #27
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    Default Re: Journeyman 325 retrofit

    Tom,

    The files I found in the C Programs/SpindleUsingJogs directory don't have the USE_POS_NEG_VOLTAGE parameter.
    These were the only files I found with that parameter in them.
    I can do some editing on those files and add it in.

    Also, when I put these files into the configuration screen for KMotionCNC, does it download these files at startup, or do I also need to have them saved to the Kflop?

    Thanks,
    Rick



  4. #28
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    Default Re: Journeyman 325 retrofit

    I'm not Tom ;-)

    The example files supplied with KMotion, are the more common options. Generally if you're running a closed loop spindle, it'll be some form of servo that uses +/-10V, so you just need to rely on setting a Jog command along with channel enable/disable, and the direction takes care of itself, which is what the included files are aimed at.

    If, like me, you're running a VFD controlled spindle, which wouldn't usually have any encoder feedback, you have to modify the examples to suit.

    Just a little note, MySpindleDefs.c should be MySpindleDefs.h (I suspect it's a typo in your post, but just highlighting it in case anybody else sees it and wonders why they're getting an error).

    Regarding what goes where. If you want to add the CSS code, you need to copy the ServiceCSS() call to your init.c main loop, so it get's continually called.
    Off/OnCW/CWW should be set to run in their own thread, and configured via the relevant M3/4/5 actions, with the SpindleJog set as an action for S.

    All the On/Off/Jog functions can normally share the same thread, however I'm not sure if that will still work, given the while loops. Normally the On threads would simply activate the required output and quit, at which point the Jog function would run to set the speed, however I'm not sure what will happen if the Jog file gets downloaded when the On file is still stuck in a while loop.



  5. #29
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    Default Re: Journeyman 325 retrofit

    OK, I think I understand the code a little better after spending a few hours studying it.
    I have re-written the M3, M4, M5, and S programs to eliminate the CSS code and add code for the +/- voltage direction output

    I notice that in all of the example code files, the while (!CheckDone(SPINDLEAXIS)); command is issued when spinning down the spindle, but not for getting it up to speed. Is the spinup time usually handled by dwell in the G code, or should we delay until the spindle is up to speed?



    *** SpindleOff.c


    Code:
    #include "KMotionDef.h"
    
    // Spindle Off function with +/- voltage used for direction
    
    #define SPINDLEAXIS 4			// Axis Channel to Jog to rotate Spindle
    #define FACTOR (1/6090)  		// to convert RPM to counts/sec (counts/rev / 60.0sec)
    #define SPEEDVAR 99			// global persistant variable to store latest speed
    #define STATEVAR 98			// global persistant variable to store latest state (-1=CCW,0=off,1=CW)
    #define KMVAR 1		 		// variable KMotionCNC will pass speed parameter (113)
    #define J325_SPINDLE_CHANGING_SPEED 140	// Bit goes low when spindle is at command speed, 1 when changing
    #define J325_SPINDLE_0_SPEED 139	// Bit goes high when spindle is at 0 speed
    
    // desired speed is passed from KMotionCNC in variable KMVAR
    // save in user variable STATEVAR whether it was off, CW, or CCW (0,1,-1)
    // save in user variable SPEEDVAR the last desired speed
    
    main()
    {
    	float speed = *(float *)&persist.UserData[KMVAR];  	// value stored is actually a float 
    	float LastSpeed = *(float *)&persist.UserData[SPEEDVAR];// get last speed setting 
    	float LastState = persist.UserData[STATEVAR];  		// get last state 
    	
    	{
    		// if spindle was CW or CCW 
    		// spin down
    		
    		Jog(SPINDLEAXIS, 0);
    		while (!CheckDone(SPINDLEAXIS));
    
    		// Wait for spindle to stop
    		while (!J325_SPINDLE_0_SPEED);
    
    		// Set LastSpeed to new speed
    		LastSpeed = 0.0;
    
    		// Save the new speed
    		*(float *)&persist.UserData[SPEEDVAR] = LastSpeed;
    
    		// Save new state
    		persist.UserData[STATEVAR] = 0;
    
    		// Print new speed
    		printf("Spindle OFF\n");
    	}
    }
    *** SpindleSpeedJog.c

    Code:
    #include "KMotionDef.h"
    
    // Spindle Jog function with +/- voltage used for direction
    
    #define SPINDLEAXIS 4			// Axis Channel to Jog to rotate Spindle
    #define FACTOR (1/6090)  		// to convert RPM to counts/sec (counts/rev / 60.0sec)
    #define SPEEDVAR 99			// global persistant variable to store latest speed
    #define STATEVAR 98			// global persistant variable to store latest state (-1=CCW,0=off,1=CW)
    #define KMVAR 113	 		// variable KMotionCNC will pass speed parameter (113)
    #define J325_SPINDLE_CHANGING_SPEED 140	// Bit goes low when spindle is at command speed, 1 when changing
    #define J325_SPINDLE_0_SPEED 139	// Bit goes high when spindle is at 0 speed
    
    // This function is called from the S command
    // desired speed is passed from KMotionCNC in variable KMVAR
    // save in user variable STATEVAR whether it was off, CW, or CCW (0,1,-1)
    // save in user variable SPEEDVAR the last desired speed
    
    main()
    {
    	float speed = *(float *)&persist.UserData[KMVAR];  	// value stored is actually a float 
    	float LastSpeed = *(float *)&persist.UserData[SPEEDVAR];// get last speed setting 
    	float LastState = persist.UserData[STATEVAR];  		// get last state 
    	
    	// Set last desired speed to new desired speed
    	persist.UserData[SPEEDVAR] = persist.UserData[KMVAR];
    
    	if (LastState==0)
    	{
    		// spindle is off and User Changes the speed 
    		// just save the desired speed
    		
    		return 0;
    	}
    	
    	// spindle is already on, so ramp to new speed
    
    	// Set new speed. Direction (LastState) should be the same
    	Jog(SPINDLEAXIS, speed * FACTOR * LastState);
    
    	// Wait for spindle to reach commanded speed
    	while (J325_SPINDLE_CHANGING_SPEED);
    
    	// Save new speed
    	*(float *)&persist.UserData[SPEEDVAR] = speed;
    
    	// Print new speed
    	printf("Jogging Spindle %f counts/sec\n",speed * FACTOR * LastState);
    }
    *** SpindleCWJog.c

    Code:
    #include "KMotionDef.h"
    
    // Spindle CW Jog function with +/- voltage used for direction
    
    #define SPINDLEAXIS 4			// Axis Channel to Jog to rotate Spindle
    #define FACTOR (1/6090)  		// to convert RPM to counts/sec (counts/rev / 60.0sec)
    #define SPEEDVAR 99			// global persistant variable to store latest speed
    #define STATEVAR 98			// global persistant variable to store latest state (-1=CCW,0=off,1=CW)
    #define KMVAR 1		 		// variable KMotionCNC will pass speed parameter (113)
    #define J325_SPINDLE_CHANGING_SPEED 140	// Bit goes low when spindle is at command speed, 1 when changing
    #define J325_SPINDLE_0_SPEED 139	// Bit goes high when spindle is at 0 speed
    
    // M03 command passes no arguments
    // desired speed is read from user variable SPEEDVAR
    // save in user variable STATEVAR whether it was off, CW, or CCW (0,1,-1)
    // save in user variable SPEEDVAR the last desired speed
    
    
    main()
    {
    	float speed = *(float *)&persist.UserData[SPEEDVAR];	// get speed setting 
    	float LastState = persist.UserData[STATEVAR];  		// get last state 
    	
    	if (LastState==-1)  
    	{
    		// spindle was CCW now we want CW 
    		// spin down
    
    		Jog(SPINDLEAXIS,0);
    		while (!CheckDone(SPINDLEAXIS));
    
    		// Wait for spindle to stop
    		while (!J325_SPINDLE_0_SPEED);
    	}
    	
    	// Set spindle to new speed and direction
    	Jog(SPINDLEAXIS, speed * FACTOR * LastState);
    
    	// Wait for spindle to reach commanded speed
    	while (J325_SPINDLE_CHANGING_SPEED);
    	
    	// Save the new state
    	persist.UserData[STATEVAR] = 1;
    
    	// Print status
    	printf("Spindle ON CW\n");
    }
    *** SpindleCCWJog.c

    Code:
    #include "KMotionDef.h"
    
    // Spindle CCW Jog function with +/- voltage used for direction
    
    #define SPINDLEAXIS 4			// Axis Channel to Jog to rotate Spindle
    #define FACTOR (1/6090)  		// to convert RPM to counts/sec (counts/rev / 60.0sec)
    #define SPEEDVAR 99			// global persistant variable to store latest speed
    #define STATEVAR 98			// global persistant variable to store latest state (-1=CCW,0=off,1=CW)
    #define KMVAR 1		 		// variable KMotionCNC will pass speed parameter (113)
    #define J325_SPINDLE_CHANGING_SPEED 140	// Bit goes low when spindle is at command speed, 1 when changing
    #define J325_SPINDLE_0_SPEED 139	// Bit goes high when spindle is at 0 speed
    
    // M04 command passes no arguments
    // desired speed is read from user variable SPEEDVAR
    // save in user variable STATEVAR whether it was off, CW, or CCW (0,1,-1)
    // save in user variable SPEEDVAR the last desired speed
    
    main()
    {
    	float speed = *(float *)&persist.UserData[SPEEDVAR];	// get speed setting 
    	float LastState = persist.UserData[STATEVAR];  		// get last state 
    	
    	if (LastState==1)  
    	{
    		// if spindle was CW now we want CCW 
    		// spin down
    		
    		Jog(SPINDLEAXIS,0);
    		while (!CheckDone(SPINDLEAXIS)) ;
    
    		// Wait for spindle to stop
    		while (!J325_SPINDLE_0_SPEED);
    
    	}
    
    	// Set spindle to new speed and direction
    	Jog(SPINDLEAXIS, speed * FACTOR * LastState);
    
    	// Wait for spindle to reach commanded speed
    	while (J325_SPINDLE_CHANGING_SPEED);
    	
    	// Save the new state
    	persist.UserData[STATEVAR] = -1;
    
    	// Print status
    	printf("Spindle ON CCW\n");
    }




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    Default Re: Journeyman 325 retrofit

    Quote Originally Posted by rbickle View Post
    I notice that in all of the example code files, the while (!CheckDone(SPINDLEAXIS)); command is issued when spinning down the spindle, but not for getting it up to speed. Is the spinup time usually handled by dwell in the G code, or should we delay until the spindle is up to speed?

    CheckDone checks to see a motion command has completed, so it won't work as a check for if the spindle is up to speed.
    To check for the spindle being at speed, you need to add your own monitoring, such as continually monitor steps over a fixed time period and compare it to the commanded jog rate.
    One way of handling waiting for the spindle to get to speed, would be to implement a feedhold until the speed is reached. You could also code things so that if a speed change has just been commanded, a feedhold is issued until the requested speed is reached, but if speed drops at a later time I.e. the spindle stalls, you command a stop.



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    Default Re: Journeyman 325 retrofit

    I have been trying to get the spindle code to have the axes pause until the spindle is up to speed.
    I'm not having any luck. Even though I have a while loop that pauses until the spindle is up to speed, the next G code command executes anyway.
    As a test, I put a Delay_sec(5) command in the code, and that doesn't pause either. The next G code executes immediately.
    I then tried adding commands to set feed hold until the spindle is up to speed. These commands also don't pause.

    Please enlighten me on this....

    Here's a copy of the code I'm running for M3 command.

    Code:
    #include "KMotionDef.h"
    
    // Spindle CW Jog function with +/- voltage used for direction
    
    #define SPINDLEAXIS 4			// Axis Channel to Jog to rotate Spindle
    #define FACTOR (1.0/6090.0)  		// to convert RPM to counts/sec (counts/rev / 60.0sec)
    #define SPEEDVAR 99			// global persistant variable to store latest speed
    #define STATEVAR 98			// global persistant variable to store latest state (-1=CCW,0=off,1=CW)
    #define KMVAR 1		 		// variable KMotionCNC will pass speed parameter (113)
    #define SPINDLE_CHANGING_SPEED 140	// Bit goes low when spindle is at command speed, 1 when changing
    #define SPINDLE_0_SPEED 139		// Bit goes high when spindle is at 0 speed
    #define SPINDLE_ENABLE	153		// Bit to enable spindle drive
    
    int splast=0,splastsolid=-1,spcount=0;
    int result;
    
    // M03 command passes no arguments
    // desired speed is read from user variable SPEEDVAR
    // save in user variable STATEVAR whether it was off, CW, or CCW (0,1,-1)
    // save in user variable SPEEDVAR the last desired speed
    
    
    main()
    {
    	float speed = *(float *)&persist.UserData[SPEEDVAR];	// get speed setting 
    	float LastState = persist.UserData[STATEVAR];  		// get last state 
    	
    	if (LastState==-1)  
    	{
    		// spindle was CCW now we want CW 
    		// spin down
    
    		Jog(SPINDLEAXIS,0);
    		while (!CheckDone(SPINDLEAXIS));
    
    		// Wait for spindle to stop
    		while (ReadBit(SPINDLE_0_SPEED) == 0);
    	}
    
    	// Set the new state
    	LastState = 1;
    
    	// Turn on Spindle
    	SetBit (SPINDLE_ENABLE);
    	
    	// Set spindle to new speed and direction
    	Jog(SPINDLEAXIS, speed * FACTOR * LastState);
    
    	// Wait for spindle to reach set speed
    	// SPINDLE_CHANGING_SPEED bit only goes low at speed
    	StopCoordinatedMotion();
    	printf ("Feed Hold ON\n");
    	result = 1;
    	//while (result != 0)
    	{
    		result = ReadBit(SPINDLE_CHANGING_SPEED)==1;
    		printf ("%d,",result);
    	}
    	Delay_sec(5);
    	ResumeCoordinatedMotion();
    	printf ("Feed hold OFF\n");
    
    	// Save the new state
    	LastState = 1;
    	persist.UserData[STATEVAR] = 1;
    
    	// Print status
    	printf("M3 Spindle CW, Spindle speed %f, FACTOR %f, State %f\n", speed, FACTOR, LastState);
    }




  8. #32
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    Default Re: Journeyman 325 retrofit

    Well, I think I just answered my own question.
    I have to set the command type in KmotionCNC from "Execute" to "Execute/Wait" to make it wait for the code to finish before running the next command.



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Journeyman 325 retrofit
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