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docs: spindle orient fix #4344

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docs: spindle orient fix #4344

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576c28f
Docs: M19 does not use encoder index signal
Sigma1912 Aug 5, 2026
2a8e5ab
Man: Remove outdated logic description from man page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 @@ -233,7 +233,7 @@ 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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5 changes: 1 addition & 4 deletions src/hal/components/orient.comp
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Expand Up @@ -25,10 +25,7 @@ command value, and fit with the motion spindle-orient support pins to support th
The spindle is assumed to have stopped in an arbitrary position. The spindle
encoder position is linked to the \\fBposition\\fR pin.
The current value of the position pin is sampled on a positive edge on the \\fBenable\\fR pin, and
\\fBcommand\\fR is computed and set as follows: floor(number of
full spindle revolutions
in the \\fBposition\\fR sampled on positive edge)
plus \\fBangle\\fR/360 (the fractional revolution) +1/-1/0 depending on \\fBmode\\fR.
\\fBcommand\\fR is computed and set depending on \\fBmode\\fR.

The \\fBmode\\fR pin is interpreted as follows:

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