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Update spindle orient docs #4342

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grandixximo merged 2 commits into from
Aug 5, 2026
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Merged

Update spindle orient docs #4342

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444d068
Docs: M19 does not use encoder index signal
Sigma1912 Aug 5, 2026
1f54c98
Man: Remove outdated logic description from man page
Sigma1912 Aug 5, 2026
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2 changes: 1 addition & 1 deletion docs/src/gcode/m-code.adoc
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Expand Up @@ -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:
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4 changes: 1 addition & 3 deletions src/hal/components/orient.comp
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Expand Up @@ -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:

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