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motion: wait for spindle at-speed after M5 spindle stop #4160

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Merged
andypugh merged 3 commits into from
Jun 14, 2026
Merged

motion: wait for spindle at-speed after M5 spindle stop #4160

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203abbf
motion: wait for spindle at-speed after M5 spindle stop
grandixximo Jun 13, 2026
344395e
motion: make G38.n probe wait for spindle at-speed
grandixximo Jun 14, 2026
f57448c
tests: match STOP_SPINDLE_TURNING stub to 2-arg signature
grandixximo Jun 14, 2026
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32 changes: 31 additions & 1 deletion src/emc/motion/command.c
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Original file line number Diff line number Diff line change
Expand Up @@ -507,6 +507,22 @@ void emcmotCommandHandler_locked(void *arg, long servo_period)
if (GET_MOTION_TELEOP_FLAG()) {
axis_jog_abort_all(0);
} else if (GET_MOTION_COORD_FLAG()) {
/* If motion was being held waiting for spindle at-speed, the
operator most likely aborted because the machine sat idle
with no obvious reason. Tell them why, loudly. A wait that
never released after a spindle stop almost always means
spindle.N.at-speed is not wired, or does not go true once the
spindle has actually stopped. */
if (MOTION_ID_VALID(emcmotInternal->coord_tp.spindle.waiting_for_atspeed)) {
for (spindle_num = 0; spindle_num < emcmotConfig->numSpindles; spindle_num++) {
if (emcmotStatus->spindle_status[spindle_num].state == 0 && !emcmotStatus->spindle_status[spindle_num].at_speed) {
reportError(_("Aborted while waiting for spindle %d at-speed after a spindle stop. "
"Check that spindle.%d.at-speed is connected and goes true once the spindle has stopped."),
spindle_num, spindle_num);
break;
}
}
}
tpAbort(&emcmotInternal->coord_tp);
} else {
for (joint_num = 0; joint_num < ALL_JOINTS; joint_num++) {
Expand All @@ -530,6 +546,8 @@ void emcmotCommandHandler_locked(void *arg, long servo_period)
SET_JOINT_FAULT_FLAG(joint, 0);
}
emcmotStatus->paused = 0;
/* Drop any pending at-speed barrier so it can't strand a later move. */
emcmotStatus->atspeed_next_feed = 0;
// Clear pins on abort so tests see a clean state
if (emcmot_hal_data) {
*(emcmot_hal_data->interp_arc_radius) = 0.0;
Expand Down Expand Up @@ -1496,6 +1514,14 @@ void emcmotCommandHandler_locked(void *arg, long servo_period)
}
}

/* A probe is a feed-type move, so honor any pending at-speed
barrier just like G1: wait for spindle.N.at-speed (spin-up after
M3, or stop after M5) before the probe starts. */
if (emcmotStatus->atspeed_next_feed) {
issue_atspeed = 1;
emcmotStatus->atspeed_next_feed = 0;
}

/* append it to the emcmotInternal->coord_tp */
tpSetId(&emcmotInternal->coord_tp, emcmotCommand->id);
if (-1 == tpAddLine(&emcmotInternal->coord_tp,
Expand All @@ -1506,7 +1532,7 @@ void emcmotCommandHandler_locked(void *arg, long servo_period)
emcmotCommand->acc,
emcmotCommand->ini_maxjerk,
emcmotStatus->enables_new,
0,
issue_atspeed,
-1,
emcmotCommand->tag)) {
reportError(_("can't add probe move"));
Expand Down Expand Up @@ -1702,6 +1728,10 @@ void emcmotCommandHandler_locked(void *arg, long servo_period)
*(emcmot_hal_data->spindle[n].spindle_orient) = 0;
emcmotStatus->spindle_status[n].orient_state = EMCMOT_ORIENT_NONE;
}
/* Optionally make the spindle stop an at-speed barrier: the next feed
move waits until at-speed reflects the stopped state. Safe when
unwired since at-speed defaults to 1 (see motion.c). */
emcmotStatus->atspeed_next_feed = emcmotCommand->wait_for_spindle_at_speed;
break;

case EMCMOT_SPINDLE_ORIENT:
Expand Down
2 changes: 2 additions & 0 deletions src/emc/motion/motion.c
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Original file line number Diff line number Diff line change
Expand Up @@ -776,6 +776,8 @@ static int export_spindle(int num, spindle_hal_t * addr){
if ((retval = hal_pin_float_newf(HAL_IN, &(addr->spindle_revs), mot_comp_id, "spindle.%d.revs", num)) != 0) return retval;
if ((retval = hal_pin_float_newf(HAL_IN, &(addr->spindle_speed_in), mot_comp_id, "spindle.%d.speed-in", num)) != 0) return retval;
if ((retval = hal_pin_bit_newf(HAL_IN, &(addr->spindle_is_atspeed), mot_comp_id, "spindle.%d.at-speed", num)) != 0) return retval;
/* Default 1: an unwired at-speed pin must never block motion. Do not
change to 0 or machines without at-speed wired would idle forever. */
*(addr->spindle_is_atspeed) = 1;
/* restore saved message level */
rtapi_set_msg_level(msg);
Expand Down
2 changes: 1 addition & 1 deletion src/emc/nml_intf/canon.hh
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Expand Up @@ -639,7 +639,7 @@ This is usually given in rpm and refers to the rate of spindle
rotation. If the spindle is already turning and is at a different
speed, change to the speed given with this command. */

extern void STOP_SPINDLE_TURNING(int spindle);
extern void STOP_SPINDLE_TURNING(int spindle, int wait_for_atspeed = 1);

Comment on lines 640 to 643

@BsAtHome BsAtHome Jun 14, 2026

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The default here is wait_for_atspeed=1. The default in emc.hh:426 is extern int emcSpindleOff(int spindle, int wait_for_atspeed = 0);

How does this relate?

@grandixximo grandixximo Jun 14, 2026

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Two layers, defaults match their use:

  • STOP_SPINDLE_TURNING (canon, default 1) is called by the interpreter for a programmed stop (M5, program end, tool change). 1 arms the barrier: that's the feature.
  • emcSpindleOff (task, default 0) is only called bare by emcSpindleAbort() and the estop/abort cleanup. Those must not arm a barrier, so 0.

The M5 path never uses either default: the flag is passed explicitly all the way. Interp's STOP_SPINDLE_TURNING(s) sets EMC_SPINDLE_OFF.wait_for_spindle_at_speed = 1, and emctaskmain forwards it into emcSpindleOff(spindle, msg->wait_for_spindle_at_speed). So 1 governs programmed M5, 0 governs only abort/estop.

/* Stop the spindle from turning. If the spindle is already stopped, this
command may be given, but it will have no effect. */
Expand Down
1 change: 1 addition & 0 deletions src/emc/nml_intf/emc.cc
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Expand Up @@ -734,6 +734,7 @@ void EMC_SPINDLE_OFF::update(CMS * cms)
{
EMC_SPINDLE_CMD_MSG::update(cms);
cms->update(spindle);
cms->update(wait_for_spindle_at_speed);
}

/*
Expand Down
2 changes: 1 addition & 1 deletion src/emc/nml_intf/emc.hh
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Expand Up @@ -423,7 +423,7 @@ extern int emcSpindleAbort(int spindle);
extern int emcSpindleSpeed(int spindle, double speed, double factor, double xoffset);
extern int emcSpindleOn(int spindle, double speed, double factor, double xoffset,int wait_for_atspeed = 1);
extern int emcSpindleOrient(int spindle, double orientation, int direction);
extern int emcSpindleOff(int spindle);
extern int emcSpindleOff(int spindle, int wait_for_atspeed = 0);
extern int emcSpindleIncrease(int spindle);
extern int emcSpindleDecrease(int spindle);
extern int emcSpindleConstant(int spindle);
Expand Down
4 changes: 3 additions & 1 deletion src/emc/nml_intf/emc_nml.hh
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Expand Up @@ -1801,7 +1801,8 @@ class EMC_SPINDLE_OFF:public EMC_SPINDLE_CMD_MSG {
public:
EMC_SPINDLE_OFF()
: EMC_SPINDLE_CMD_MSG(EMC_SPINDLE_OFF_TYPE, sizeof(EMC_SPINDLE_OFF)),
spindle(0)
spindle(0),
wait_for_spindle_at_speed(0)
{};

// For internal NML/CMS use only.
Expand All @@ -1810,6 +1811,7 @@ class EMC_SPINDLE_OFF:public EMC_SPINDLE_CMD_MSG {
void update(CMS * cms);

int spindle; // the spindle to be turned off
int wait_for_spindle_at_speed; // wait for at-speed (spindle stopped) before next feed
};

class EMC_SPINDLE_INCREASE:public EMC_SPINDLE_CMD_MSG {
Expand Down
2 changes: 1 addition & 1 deletion src/emc/rs274ngc/gcodemodule.cc
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Expand Up @@ -551,7 +551,7 @@ void STOP_SPEED_FEED_SYNCH() {}
void START_SPINDLE_COUNTERCLOCKWISE(int /*spindle*/, int /*wait_for_at_speed*/) {}
void START_SPINDLE_CLOCKWISE(int /*spindle*/, int /*wait_for_at_speed*/) {}
void SET_SPINDLE_MODE(int /*spindle*/, double) {}
void STOP_SPINDLE_TURNING(int /*spindle*/) {}
void STOP_SPINDLE_TURNING(int /*spindle*/, int /*wait_for_at_speed*/) {}
void SET_SPINDLE_SPEED(int /*spindle*/, double /*rpm*/) {}
void ORIENT_SPINDLE(int /*spindle*/, double /*d*/, int /*i*/) {}
void WAIT_SPINDLE_ORIENT_COMPLETE(int /*s*/, double /*timeout*/) {}
Expand Down
2 changes: 1 addition & 1 deletion src/emc/sai/saicanon.cc
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Expand Up @@ -485,7 +485,7 @@ void SET_SPINDLE_SPEED(int spindle, double rpm)
_sai._spindle_speed[spindle] = rpm;
}

void STOP_SPINDLE_TURNING(int spindle)
void STOP_SPINDLE_TURNING(int spindle, int /*wait_for_atspeed*/)
{
PRINT("STOP_SPINDLE_TURNING(%i)\n", spindle);
_sai._spindle_turning[spindle] = CANON_STOPPED;
Expand Down
3 changes: 2 additions & 1 deletion src/emc/task/emccanon.cc
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Expand Up @@ -3017,12 +3017,13 @@ void SET_SPINDLE_SPEED(int s, double speed_rpm)
interp_list.append(SPINDLE_SPEED_<EMC_SPINDLE_SPEED>(s, 0, speed_rpm));
}

void STOP_SPINDLE_TURNING(int s)
void STOP_SPINDLE_TURNING(int s, int wait_for_atspeed)
{
auto emc_spindle_off_msg = std::make_unique<EMC_SPINDLE_OFF>();

flush_segments();
emc_spindle_off_msg->spindle = s;
emc_spindle_off_msg->wait_for_spindle_at_speed = wait_for_atspeed;
interp_list.append(std::move(emc_spindle_off_msg));
// Added by atp 6/1/18 not sure this is right. There is a problem that the _second_ S word starts the spindle without M3/M4
canon.spindle[s].dir = 0;
Expand Down
2 changes: 1 addition & 1 deletion src/emc/task/emctaskmain.cc
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Expand Up @@ -1995,7 +1995,7 @@ static int emcTaskIssueCommand(NMLmsg * cmd)

case EMC_SPINDLE_OFF_TYPE:
spindle_off_msg = reinterpret_cast<EMC_SPINDLE_OFF *>(cmd);
retval = emcSpindleOff(spindle_off_msg->spindle);
retval = emcSpindleOff(spindle_off_msg->spindle, spindle_off_msg->wait_for_spindle_at_speed);
break;

case EMC_SPINDLE_BRAKE_RELEASE_TYPE:
Expand Down
3 changes: 2 additions & 1 deletion src/emc/task/taskintf.cc
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Expand Up @@ -1983,11 +1983,12 @@ int emcSpindleOn(int spindle, double speed, double css_factor, double offset, in
return usrmotWriteEmcmotCommand(&emcmotCommand);
}

int emcSpindleOff(int spindle)
int emcSpindleOff(int spindle, int wait_for_at_speed)
{
emcmotCommand.command = EMCMOT_SPINDLE_OFF;
emcmotCommand.state = 0;
emcmotCommand.spindle = spindle;
emcmotCommand.wait_for_spindle_at_speed = wait_for_at_speed;
return usrmotWriteEmcmotCommand(&emcmotCommand);
}

Expand Down
2 changes: 1 addition & 1 deletion tests/interp/compile/use-rs274.cc
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Expand Up @@ -136,7 +136,7 @@ void SPINDLE_RETRACT_TRAVERSE() {}
void START_SPINDLE_CLOCKWISE(int spindle, int dir) {}
void START_SPINDLE_COUNTERCLOCKWISE(int spindle, int dir) {}
void SET_SPINDLE_SPEED(int spindle, double r) {}
void STOP_SPINDLE_TURNING(int spindle) {}
void STOP_SPINDLE_TURNING(int spindle, int wait_for_atspeed) {}
void SPINDLE_RETRACT() {}
void ORIENT_SPINDLE(int spindle, double orientation, int mode) {}
void WAIT_SPINDLE_ORIENT_COMPLETE(int spindle, double timeout) {}
Expand Down
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