Continuous rotary axis rotation

[paukstelis]

I'm interested in being able to send a command that will start a rotary axis at a particular feedrate and then have that continue until a stop command is sent. Ideally this would be non-blocking, so I'm guessing it would have to be at the planner level or even higher. Would this be possible and how complicated might it be to implement?

[terjeio]

You can use the stepper spindle?
It claims the highest numbered axis > Z (2).

[paukstelis]

Maybe. I have two rotary axes and I want the first one to have this control, but that looks like it wouldn't be too hard a modification. I guess the main concern would be that I only want that behavior at certain times. Otherwise, I want it to function as a normal angular rotary axis as part of the 4 axis system.

[terjeio]

I guess the main concern would be that I only want that behavior at certain times. Otherwise, I want it to function as a normal angular rotary axis as part of the 4 axis system.

The stepper spindle can be controlled either as a spindle or as an axis if configured for it. And you can switch between spindles if more than one is enabled.

If you want to control infinite motion, for one axis independent of the others, via the planner and the stepper code you will have to create a custom core - and I that may be challenging. I opted for driver supported step injection so I could have a path outside of the core, initially for plasma THC. I use the driver step injection code to run the motor for the stepper spindle.