NAME

       orient - Provide a PID command input for orientation mode based on current spindle position, target angle
       and orient mode

SYNOPSIS

       loadrt orient [count=N|names=name1[,name2...]]

DESCRIPTION

       This  component  is  designed to support a spindle orientation PID loop by providing a command value, and
       fit with the motion spindle-orient support pins to support the M19 code.

       The spindle is assumed to have stopped in an arbitrary position. The spindle encoder position  is  linked
       to the  position pin.  The  current value of the position pin is sampled on a positive edge on the enable
       pin, and command is computed and set as follows: floor(number of full spindle revolutions in the position
       sampled on positive edge) plus angle/360 (the fractional revolution) +1/-1/0 depending on mode.

       The mode pin is interpreted as follows:

       0:   the   spindle  rotates  in  the  direction  with  the  lesser  angle,  which  may  be  clockwise  or
       counterclockwise.

       1: the spindle rotates always rotates clockwise to the new angle.

       2: the spindle rotates always rotates counterclockwise to the new angle.

HAL USAGE

       On spindle.N.orient disconnect the spindle control and connect to the orient-pid loop:

       loadrt orient names=orient
       loadrt pid names=orient-pid
       net orient-angle spindle.N.orient-angle orient.angle
       net orient-mode spindle.N.orient-mode orient.mode
       net orient-enable spindle.N.orient orient.enable orient-pid.enable
       net spindle-in-pos orient.is-oriented spindle.N.is-oriented
       net spindle-pos encoder.position orient.position orient-pid.feedback
       net orient-command orient.command orient-pid.command

FUNCTIONS

       orient.N (requires a floating-point thread)
              Update command based on enable, position, mode and angle.

PINS

       orient.N.enable bit in
              enable angular output for orientation mode

       orient.N.mode s32 in
              0: rotate - shortest move; 1: always rotate clockwise; 2: always rotate counterclockwise

       orient.N.position float in
              spindle position input, unit 1 rev

       orient.N.angle float in
              orient target position in degrees, 0 <= angle < 360

       orient.N.command float out
              target spindle position, input to PID command

       orient.N.poserr float out
              in degrees - aid for PID tuning

       orient.N.is-oriented bit out
              This pin goes high when poserr < tolerance. Use to drive spindle.N.is-oriented

       orient.N.tolerance float in (default: 0.5)
              The tolerance in degrees for considering the align completed

AUTHOR

       Michael Haberler

LICENSE

       GPL

LinuxCNC Documentation                             2025-06-19                                          ORIENT(9)