From 444d06882175d1ca0b17315bda6c6590866c0aaf Mon Sep 17 00:00:00 2001 From: david mueller Date: Wed, 5 Aug 2026 10:11:06 +0100 Subject: [PATCH 1/2] Docs: M19 does not use encoder index signal --- docs/src/gcode/m-code.adoc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/src/gcode/m-code.adoc b/docs/src/gcode/m-code.adoc index 253358f25f1..21a3da5d6a9 100644 --- a/docs/src/gcode/m-code.adoc +++ b/docs/src/gcode/m-code.adoc @@ -235,7 +235,7 @@ M19 R- Q- [P-] [$-] M19 is a command of modal group 7, like M3, M4 and M5. M19 is cleared by any of M3,M4,M5. -Spindle orientation requires a quadrature encoder with an index to sense the +Spindle orientation requires a quadrature encoder to sense the spindle shaft position and direction of rotation. INI Settings in the [RS274NGC] section: From 1f54c987f4bbc6cfcaa18df4336260bf6ca396cc Mon Sep 17 00:00:00 2001 From: david mueller Date: Wed, 5 Aug 2026 10:12:14 +0100 Subject: [PATCH 2/2] Man: Remove outdated logic description from man page The relevant logic was changed in Commit b2cd764 but the man page was not updated. The Functionality of the logic is likely easier to understand by looking at the code. --- src/hal/components/orient.comp | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/src/hal/components/orient.comp b/src/hal/components/orient.comp index fdff8714f48..e0cc93f1478 100644 --- a/src/hal/components/orient.comp +++ b/src/hal/components/orient.comp @@ -26,9 +26,7 @@ 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*. +is computed and set depending on *mode*. The *mode* pin is interpreted as follows: