Multispindle: Further docs updates

Signed-off-by: andy pugh <andy@bodgesoc.org>

Author: andypugh

docs/src/config/core-components.txt

@@ -156,7 +156,7 @@ These pins, parameters, and functions are created by the realtime
     limits. The value on this pin does not reflect the feed override or
     any other adjustments.
 
-* 'spindle.N.at-speed' - 
+* 'spindle.0.at-speed' - 
      (bit, in) Motion will pause until this pin is TRUE, under the
     following conditions: before the first feed move after each spindle
     start or speed change; before the start of every chain of
@@ -262,22 +262,22 @@ Conceptually the spindle is in one of the following modes:
  - orienation complete mode.
 
 When an M19 is executed, the spindle changes to 'searching for desired
-orientation' , and the `spindle-orient` HAL pin is asserted.  The
-desired target position is specified by the `spindle-orient-angle` and
-`spindle-orient-fwd` pins and driven by the M19 R and P parameters.
+orientation' , and the `spindle.N.orient` HAL pin is asserted.  The
+desired target position is specified by the `spindle.N.orient-angle` and
+`spindle.N.orient-fwd` pins and driven by the M19 R and P parameters.
 
-The HAL support logic is expected to react to `spindle-orient` by
+The HAL support logic is expected to react to `spindle.N.orient` by
 moving the spindle to the desired position. When this is complete, the
 HAL logic is expected to acknowledge this by asserting the
-`spindle-is-oriented` pin.
+`spindle.N.is-oriented` pin.
 
-Motion then acknowledges this by deasserting the `spindle-orient` pin
-and asserts the `spindle-locked` pin to indicate 'orientation
-complete' mode. It also raises the `spindle-brake` pin. The spindle now
+Motion then acknowledges this by deasserting the `spindle.N.orient` pin
+and asserts the `spindle.N.locked` pin to indicate 'orientation
+complete' mode. It also raises the `spindle.N.brake` pin. The spindle now
 is in 'orientation complete' mode.
 
-If, during `spindle-orient` being true, and `spindle-is-oriented` not
-yet asserted the `spindle-orient-fault` pin has a value other than
+If, during `spindle.N.orient` being true, and `spindle.N.is-oriented` not
+yet asserted the `spindle.N.orient-fault` pin has a value other than
 zero, the M19 command is aborted, a message including the fault code
 is displayed, and the motion queue is flushed. The spindle reverts to
 rotation mode.

docs/src/config/stepper.txt

@@ -101,7 +101,7 @@ net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
 net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
 
 # connect "spindle on" motion controller pin to a physical pin
-net spindle-on spindle.N.on => parport.0.pin-09-out
+net spindle-on spindle.0.on => parport.0.pin-09-out
 
 ###
 ### You might use something like this to enable chopper drives when machine ON
@@ -215,8 +215,8 @@ component to create the signal:
 loadrt pwmgen output_type=0
 addf pwmgen.update servo-thread
 addf pwmgen.make-pulses base-thread
-net spindle-speed-cmd spindle.N.speed-out => pwmgen.0.value
-net spindle-on spindle.N.on => pwmgen.0.enable
+net spindle-speed-cmd spindle.0.speed-out => pwmgen.0.value
+net spindle-on spindle.0.on => pwmgen.0.enable
 net spindle-pwm pwmgen.0.pwm => parport.0.pin-09-out
 setp pwmgen.0.scale 1800 # Change to your spindle’s top speed in RPM
 ----

docs/src/config/stepper_fr.txt

@@ -124,7 +124,7 @@ net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
 net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
 
 # connect "spindle on" motion controller pin to a physical pin
-net spindle-on spindle.N.on => parport.0.pin-09-out
+net spindle-on spindle.0.on => parport.0.pin-09-out
 
 ###
 ### You might use something like this to enable chopper drives when machine ON
@@ -239,7 +239,7 @@ loadrt pwmgen output_type=0
 addf pwmgen.update servo-thread
 addf pwmgen.make-pulses base-thread
 net spindle-speed-cmd spindle.N.speed-out => pwmgen.0.value
-net spindle-on spindle.N.on => pwmgen.0.enable
+net spindle-on spindle.0.on => pwmgen.0.enable
 net spindle-pwm pwmgen.0.pwm => parport.0.pin-09-out
 setp pwmgen.0.scale 1800 # Change to your spindle’s top speed in RPM
 ----

docs/src/drivers/vfs11.txt

@@ -258,17 +258,17 @@ POLLCYCLES=10
 loadusr -Wn spindle-vfd vfs11_vfd -n spindle-vfd
 
 # connect the spindle direction pins to the VFD
-net vfs11-fwd spindle-vfd.spindle-fwd <= spindle.N.forward
-net vfs11-rev spindle-vfd.spindle-rev <= spindle.N.reverse
+net vfs11-fwd spindle-vfd.spindle-fwd <= spindle.0.forward
+net vfs11-rev spindle-vfd.spindle-rev <= spindle.0.reverse
 
 # connect the spindle on pin to the VF-S11
-net vfs11-run spindle-vfd.spindle-on <= spindle.N.on
+net vfs11-run spindle-vfd.spindle-on <= spindle.0.on
 
 # connect the VF-S11 at speed to the motion at speed
-net vfs11-at-speed spindle.N.at-speed <= spindle-vfd.at-speed
+net vfs11-at-speed spindle.0.at-speed <= spindle-vfd.at-speed
 
 # connect the spindle RPM to the VF-S11
-net vfs11-RPM spindle-vfd.speed-command <= spindle.N.speed-out
+net vfs11-RPM spindle-vfd.speed-command <= spindle.0.speed-out
 
 # connect the VF-S11 DC brake
 # since this draws power during spindle off, the dc-brake pin would
@@ -277,7 +277,7 @@ net vfs11-RPM spindle-vfd.speed-command <= spindle.N.speed-out
 
 # to use the VFS11 jog mode for spindle orient 
 # see orient.9 and motion.9
-net spindle-orient spindle.N.orient spindle-vfd.max-speed spindle-vfd.jog-mode
+net spindle-orient spindle.0.orient spindle-vfd.max-speed spindle-vfd.jog-mode
 
 # take precedence over control panel
 setp spindle-vfd.enable 1

docs/src/examples/gs2_example_fr.txt

@@ -23,16 +23,16 @@ GS2 et avoir le contrôle de celui-ci depuis l'interface utilisateur.
 loadusr -Wn spindle-vfd gs2_vfd -n spindle-vfd
 
 # connecter la pin de direction au variateur 
-net gs2-fwd spindle-vfd.spindle-fwd <= spindle.N.forward
+net gs2-fwd spindle-vfd.spindle-fwd <= spindle.0.forward
 
 # connecter la pin de Marche/Arrêt au variateur 
-net gs2-run spindle-vfd.spindle-on <= spindle.N.on
+net gs2-run spindle-vfd.spindle-on <= spindle.0.on
 
 # connecter la pin indiquant que la consigne vitesse est atteinte 
 net gs2-at-speed spindle.N.at-speed <= spindle-vfd.at-speed
 
 # connecter la commande de vitesse au variateur 
-net gs2-RPM spindle-vfd.speed-command <= spindle.N.speed-out
+net gs2-RPM spindle-vfd.speed-command <= spindle.0.speed-out
 ----
 
 Sur le variateur de fréquence lui même, il est nécessaire de fixer quelques

docs/src/examples/spindle.txt

@@ -1,5 +1,11 @@
 [[cha:spindle-control]]
 
+LinuxCNC can control up to 8 spindles. The number is set in the INI file. 
+The examples below all refer to a single-spindle config with spindle
+control pins with names like spindle.0...
+In the case of a multiple spindle machine all that changes is that
+additional pins exist with names such as spindle.6...
+
 = Spindle Control
 
 (((0-10v Spindle Speed Example)))
@@ -24,7 +30,7 @@ card does not do scaling.
 loadrt scale count=1
 addf scale.0 servo-thread
 setp scale.0.gain 0.002    
-net spindle-speed-scale spindle.N.speed-out => scale.0.in
+net spindle-speed-scale spindle.0.speed-out => scale.0.in
 net spindle-speed-DAC scale.0.out => <your DAC pin name>    
 ----
 
@@ -39,8 +45,8 @@ use the pwmgen component to create the signal:
 loadrt pwmgen output_type=0 
 addf pwmgen.update servo-thread
 addf pwmgen.make-pulses base-thread    
-net spindle-speed-cmd spindle.N.speed-out => pwmgen.0.value
-net spindle-on spindle.N.on => pwmgen.0.enable
+net spindle-speed-cmd spindle.0.speed-out => pwmgen.0.value
+net spindle-on spindle.0.on => pwmgen.0.enable
 net spindle-pwm pwmgen.0.pwm => parport.0.pin-09-out
 # Set the spindle's top speed in RPM
 setp pwmgen.0.scale 1800
@@ -56,7 +62,7 @@ nist-lathe sample configuration to use a scale component.
 == Spindle Enable
 
 If you need a spindle enable signal, 
-link your output pin to spindle.N.on. 
+link your output pin to spindle.0.on. 
 To link these pins to a parallel port pin put something like 
 the following in your .hal file, making sure you pick the
 pin that is connected to your control device.
@@ -79,8 +85,8 @@ following in your .hal file making sure you pick the pin that is
 connected to your control device.
 
 ----
-net spindle-fwd spindle.N.forward => parport.0.pin-16-out
-net spindle-rev spindle.N.reverse => parport.0.pin-17-out
+net spindle-fwd spindle.0.forward => parport.0.pin-16-out
+net spindle-rev spindle.0.reverse => parport.0.pin-17-out
 ----
 
 (((Spindle Soft Start Example)))
@@ -96,7 +102,7 @@ second part is to let LinuxCNC know when the spindle is at speed so motion
 can begin.
 
 In the 0-10 volt example the line
-    'net spindle-speed-scale spindle.N.speed-out => scale.0.in'
+    'net spindle-speed-scale spindle.0.speed-out => scale.0.in'
 is changed as shown in the following example:
 
 .Intro to HAL components limit2 and near:
@@ -130,7 +136,7 @@ addf spindle-at-speed servo-thread
 setp spindle-ramp.maxv 60
 
 # hijack the spindle speed out and send it to spindle ramp in
-net spindle-cmd <= spindle.N.speed-out => spindle-ramp.in
+net spindle-cmd <= spindle.0.speed-out => spindle-ramp.in
 
 # the output of spindle ramp is sent to the scale in
 net spindle-ramped <= spindle-ramp.out => scale.0.in
@@ -142,9 +148,9 @@ net spindle-ramped <= spindle-ramp.out => scale.0.in
 net spindle-cmd => spindle-at-speed.in1
 net spindle-ramped => spindle-at-speed.in2
 
-# the output from spindle-at-speed is sent to spindle.N.at-speed
+# the output from spindle-at-speed is sent to spindle.0.at-speed
 # and when this is true motion will start
-net spindle-ready <= spindle-at-speed.out => spindle.N.at-speed
+net spindle-ready <= spindle-at-speed.out => spindle.0.at-speed
 ----
 
 == Spindle Feedback
@@ -154,9 +160,14 @@ net spindle-ready <= spindle-at-speed.out => spindle.N.at-speed
 === Spindle Synchronized Motion
 
 Spindle feedback is needed by LinuxCNC to perform any spindle coordinated
-motions like threading and constant surface speed. The StepConf Wizard
-can perform the connections for you if you select Encoder Phase A and
-Encoder Index as inputs.
+motions like threading and constant surface speed. 
+LinuxCNC can perform synchronised motion and CSS with any of up to 8
+spindles. Which spindles are used is controlled from G-code. CSS is
+possible with several spindles simultaneously. 
+
+The StepConf Wizard can perform the connections for a single-spindle
+configuration for you if you select Encoder Phase A and Encoder Index as
+inputs.
 
 Hardware assumptions:
 
@@ -189,8 +200,8 @@ setp encoder.3.position-scale 100
 setp encoder.3.counter-mode true
 
 # connect the HAL encoder outputs to LinuxCNC.
-net spindle-position encoder.3.position => spindle.N.revs
-net spindle-velocity encoder.3.velocity => spindle.N.speed-in
+net spindle-position encoder.3.position => spindle.0.revs
+net spindle-velocity encoder.3.velocity => spindle.0.speed-in
 net spindle-index-enable encoder.3.index-enable <=> spindle.N.index-enable
 
 # connect the HAL encoder inputs to the real encoder.
@@ -204,11 +215,11 @@ net spindle-index encoder.3.phase-Z <= parport.0.pin-11-in
 === Spindle At Speed
 
 To enable LinuxCNC to wait for the spindle to be at speed before executing
-a series of moves you need to set spindle.N.at-speed to true when
+a series of moves. You need to set spindle.N.at-speed to true when
 the spindle is at the commanded speed. To do this you need spindle
 feedback from an encoder. Since the feedback and the commanded speed
-are not usually 'exactly' the same you need to use the 'near'
-component to say that the two numbers are close enough. 
+are not usually 'exactly' the same you should to use the 'near'
+component to determine that the two numbers are close enough. 
 
 The connections needed are from the spindle
 velocity command signal to near.n.in1 and from the spindle velocity
@@ -235,7 +246,7 @@ net spindle-cmd => near.0.in1
 net spindle-velocity => near.0.in2
 
 # connect the output to the spindle-at-speed input
-net spindle-at-speed spindle.N.at-speed <= near.0.out
+net spindle-at-speed spindle.0.at-speed <= near.0.out
 
 # set the spindle speed inputs to agree if within 1%
 setp near.0.scale 1.01

docs/src/gcode/machining-center.txt

@@ -51,6 +51,9 @@ to Y, and C rotates around a line parallel to Z.
 A CNC machine typically has a spindle which holds one cutting tool,
 probe, or the material in the case of a lathe. The spindle may or may
 not be controlled by the CNC software.
+LinuxCNC offers suport for up to 8 spindles, which can be individually
+controlled and can run simultaneously at different speeds and in different
+directions. 
 
 === Coolant (((coolant)))
 

docs/src/getting-started/updating-linuxcnc.txt

@@ -215,6 +215,25 @@ configurations include:
 The following subsections and the section for 'Hal Changes' list items that
 may require additional user edits to ini or hal files.
 
+=== Multiple Spindle Support
+
+LinuxCNC now supports up to 8 spindles (and can be recompiled for more)
+Existing G-code will run without modification and most configurations
+will default to single spindles. To add spindles both the "num_spindles"
+modparam to the motion module in the HAL file and the [TRAJ]SPINDLES
+entry in the INI file should be changed/added to choose the required
+number. These /must/ match. 
+The spindle control pin names have been changed to make spindles look
+more like axes and joints. motion.spindle-speed-out is now spindle.0.speed-out
+for example. The automatic update script will take care of these changes.
+To control extra spindles the G and M-codes which control spindle speed
+now accept an additional "$" argument, for example M3 $2 to start the
+third spindle. "$" was chosen to avoid clashes with any existing code
+letters. It should be possible to create custom G-codes to match any
+other multi-spindle controller. 
+See the G-code and M-code manuals for code changes, and man motion for
+the HAL pin changes. 
+
 === TRAJ velocities, accelerations names
 
 With incorporation of joints_axes functionality, some names were
@@ -932,7 +951,7 @@ purpose.
 
 === Post-joints_axes
 
-With the incorporation of joints_axes functionality, may sims provided
+With the incorporation of joints_axes functionality, many sims provided
 in the distribution now take advantage of a general purpose halfile that
 supports numerous configurations automatically.  A typical sim config
 HALFILE specification is: