Re: emc spindle

[Fred Proctor <proctor-at-cme.nist.gov>]

The differences between minimilltask/io and bridgeporttask/io are in the
handling of the spindle and estop. In the minimill controller, spindle
commands are sent as DAC writes to the 4th axis of the servo to go. The
estop sense is simulated as being equal to the estop output.

Ming Him Mak reports that it doesn't work, which isn't surprising since
the software probably rusted since the last time I tried this, about a
year ago. I'll look into this, but in the meantime brave souls can try
to figure this out. The way I'd do it is to run the Linux "emcmotsim"
instead of the RT Linux stgmod.o, so that you can debug it, e.g.,

cd /usr/local/nist/emc in all windows

window1> gdb plat/linux_2_0_36/bin/emcmotsim
gdb> run -ini yourfile.ini
(use ^C to pause, "b" to set breakpoints, etc.)

window2> gdb plat/linux_2_0_36/bin/minimillio
gdb> run -ini yourfile.ini

window3> gdb plat/linux_2_0_36/bin/minimilltask
gdb> run -ini yourfile.ini

Run the GUI, MDI in a spindle command, e.g., S1000 M3, and go into each
controller and see what's happening.

If I find out anything I'll let you know.

--Fred