Quote from Mauk on 25 February 2023, 20:58

@ CS-Lab Support:

This request is about a smallish table-top Mill:

Retrofitted Emco VMC100 3 axis Mill with tool change carousel.
Mach4 Hobby v. 4.2.0.4405 and CSMIO IP-S v. 3.412.
Spindle servo motor powered by an Argon drive (Granite Devices) with step/dir control and encoder feedback.
The index signal of the encoder is also, optically isolated, used as home signal for the spindle position.

Before a tool change procedure, M6 Macro, the spindle axis needs to be homed. After the spindle axis homing is completed a fault status appears:

CSMIO/IP motion controller(0) PID Fault
mkit: 5 error: 139322

The number after "error:" varies with the time the spindle has been running. If homing the spindle is done before any spindle running the fault does not appear! This can be seen by looking at the CSMIO-IP registers. After running the spindle the register "Feedback Ch[5]" and "Spindle Axis Position" show the number of degrees rotation. During homing the "Feedback Ch[5]" runs to zero and thereafter the "Spindle Axis Position" returns to zero and then the fault appears. If the spindle didn't run before homing both register indications are still zero and the homing completes without fault indication. The fault appears when homing by Gcode "G28.1 P6", but also by API Call mcAxisHome.

I did try to home the spindle after writing both registers to value "0", but also in that case the fault appears.

My question is how to home the spindle axis without causing this fault. Or is this fault a CSMIO firmware property? Like item 9 in this page?

https://en.cs-lab.eu/e-pid-error-in-the-case-of-csmio-ip-controllers-and-mach3-mach4-control-software-reasons-advices/

I'm using a workaround for this problem by switching the spindle step/dir control to motor[4] output of the CSMIO and then home it as B axis. After the tool change procedure the spindle is switched back to motor[5] output.