Dynomotion Forum

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DefineCoordSystem6(0,1,2,-1,-1,5);

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DefineCoordSystem6(0,1,2,-1,-1,-1);

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// coordinate systems #0 - axis definitions
extern int CS0_axis_x; // Axis channel number to use as x
extern int CS0_axis_y; // Axis channel number to use as y  
extern int CS0_axis_z; // Axis channel number to use as z  
extern int CS0_axis_a; // Axis channel number to use as a  
extern int CS0_axis_b; // Axis channel number to use as b  
extern int CS0_axis_c; // Axis channel number to use as c  
extern int CS0_axis_u; // Axis channel number to use as u  
extern int CS0_axis_v; // Axis channel number to use as v  

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  .......
 .......
  EnableAxis (0);
  EnableAxis (1);
  EnableAxis (2);
  EnableAxis (5); //Spindle
  DefineCoordSystem6(0,1,2,-1,-1,5); //Spindle as C axis
 .......
 .......

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#include "KMotionDef.h"
#include "Milling_Machine_24K40_Hardware.h"
/*
  //==== All defined in "Milling_Machine_24K40_Hardware.h" ====
         #define FACTOR              (11468.8/60.0)             //1000 counts/sec / 100 counts/rev = 1 RPS = 60 RPM
         #define Last_SPEED          persist.UserData[2]        //save in user variable Last_SPEED the last desired speed
         #define Desired_SPEED       persist.UserData[3]        //desired speed is passed from KMotionCNC in variable Desired_SPEED. 
         #define Spindle_STATE       persist.UserData[4]        //save in user variable Spindle_STATE whether it was off, CW, or CCW (0,1,-1) 
*/

main()
{   
       DefineCoordSystem6(0,1,2,-1,-1,-1); //Spindle as Spindle (Off C axis)
        printf("M03 start\n");	
	
	float speed = *(float *)&Last_SPEED;  // value stored is actually a float 
	float LastState = Spindle_STATE;  // get last state 
        printf("Prewiew spindle state= %f\n",LastState);	
	
	if (LastState==-1)  
	{		
		Jog(Spindle,0);
		while (!CheckDone(Spindle)) StopCoordinatedMotion();
		ResumeCoordinatedMotion();
	}
 
	printf("Spindle speed= %f\n",speed);
	Jog(Spindle,speed * FACTOR);
	while ((ch5->last_vel <=(speed * FACTOR/100*95))||(ch5->last_vel >= (speed * FACTOR/100*105))) StopCoordinatedMotion(); //while speed window = 95- 105%   
	ResumeCoordinatedMotion();
	printf("Jogging Spindle %f counts/sec\n",speed * FACTOR);
	Spindle_STATE = 1;  // remember we are CW
}

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#include "KMotionDef.h"
#include "Milling_Machine_24K40_Hardware.h"
/*
  //==== All defined in "Milling_Machine_24K40_Hardware.h" ====
         #define FACTOR              (11468.8/60.0)             //1000 counts/sec / 100 counts/rev = 1 RPS = 60 RPM
         #define Last_SPEED          persist.UserData[2]        //save in user variable Last_SPEED the last desired speed
         #define Desired_SPEED       persist.UserData[3]        //desired speed is passed from KMotionCNC in variable Desired_SPEED.
         #define Spindle_STATE       persist.UserData[4]        //save in user variable Spindle_STATE whether it was off, CW, or CCW (0,1,-1) 
*/

main()
{
	// spin down	
	Jog(Spindle,0); //Spindle stop
	while (!CheckDone(Spindle)) StopCoordinatedMotion(); //Spindle full stop	
        ResumeCoordinatedMotion();
	Spindle_STATE = 0;  // remember we are Off
	DefineCoordSystem6(0,1,2,-1,-1,5); //Spindle as C axis
	printf("Jogging Spindle Stop\n");	
}

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