ORIENT(9)

✨ ORIENT(9) ✨

okay bestie, gather round, because this is the orient HAL component and she is literally the moment 💅

🎀 NAME 🎀

orient — she provides a PID command input for orientation mode, based on the current spindle position, the target angle and the orient mode. that's it, that's the job, and she does it flawlessly ✨

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🌸 SYNOPSIS 🌸

loadrt orient [count=N|names=name1[,name2...]]

💖 DESCRIPTION 💖

so the whole vibe here: this component exists to support a spindle orientation PID loop by handing it a command value, and to fit with the motion spindle-orient support pins so the M19 code can do its thing. no cap 🫶

here's the scenario, bestie: the spindle has stopped. somewhere. anywhere. arbitrary position, we don't know her. the spindle encoder position gets linked to the position pin. then — on a positive edge on the enable pin — we sample whatever position is at that moment, and the command gets computed and set like this:

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.

like, that's the formula, she's iconic, she's precise 💅

and now the mode pin, which gets interpreted like this:

• 0: the spindle rotates in the direction with the lesser angle, which may be clockwise or counterclockwise.
• 1: the spindle rotates always rotates clockwise to the new angle.
• 2: the spindle rotates always rotates counterclockwise to the new angle.

🦋 HAL USAGE 🦋

okay so on spindle.N.orient you disconnect the spindle control and connect to the orient-pid loop. like, out with the old, in with the slay:

loadrt orient names=orient
loadrt pid names=orient-pid
net orient-angle spindle.N.orient-angle orient.angle
net orient-mode spindle.N.orient-mode orient.mode
net orient-enable spindle.N.orient orient.enable orient-pid.enable
net spindle-in-pos orient.is-oriented spindle.N.is-oriented
net spindle-pos encoder.position orient.position orient-pid.feedback
net orient-command orient.command orient-pid.command

copy it exactly bestie, every single line, don't get creative 🙈

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🔥 FUNCTIONS 🔥

• orient.N (requires a floating-point thread) — updates the command based on enable, position, mode and angle.

👑 PINS 👑

• orient.N.enable bit in — enable angular output for orientation mode ✨
• orient.N.mode s32 in — 0: rotate - shortest move; 1: always rotate clockwise; 2: always rotate counterclockwise.
• orient.N.position float in — spindle position input, unit 1 rev.
• orient.N.angle float in — orient target position in degrees, 0 <= angle < 360.
• orient.N.command float out — target spindle position, input to PID command.
• orient.N.poserr float out — in degrees - aid for PID tuning (she's the little helper bestie, use her for tuning 🎀).
• orient.N.is-oriented bit out — this pin goes high when poserr < tolerance. use to drive spindle.N.is-oriented.
• orient.N.tolerance float in (default: 0.5) — the tolerance in degrees for considering the align completed. like, how close is close enough, you know? 💅

ngl poserr is lowkey the most useful pin in this whole page for tuning. she's in degrees. she's telling you the truth. fr fr.

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💜 AUTHOR 💜

Michael Haberler

🌈 LICENSE 🌈

GPL

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and that's the whole page, bestie, you ate it 💅✨ this was LinuxCNC Documentation, dated 2026-03-17, and it's the ORIENT(9) page — go orient those spindles, you've got this 🫶🎀🦋