Cool, what kind of tweeking did you have to do with hal? John
nothing special, just set up the spindle encoder so that motion.spindle-revs increases by 1 when the spindle turns one revolution, and connect the index-enable to the encoder counter.
setp m5i20.0.enc-03-scale 2000 net spindle-pos m5i20.0.enc-03-position net spindle-pos motion.spindle-revs net spindle-index-en motion.spindle-index-enable net spindle-index-en m5i20.0.enc-03-index-enable
Rigid tapping worked fine at 500 RPM, but gave following errors at higher spindle speeds.
Now I did it by first starting the spindle and then issuing the G33.1 command.
I suspect the following errors are related to the Z-axis not keeping up with the spindle if the spindle is already turning at 2000rpm.
So perhaps start the spindle and have the G33.1 command on the same line of g-code so that the spindle accelerates from 0rpm to commanded rpm and the z-axis has time to respond?
Now I have no accel/decel on spindle-speed-out, so the accel/decel is only set in the VFD. But that should be ok as EMC2 does the gearing on the actual encoder signal and not commanded rpm.