---
name: "orient"
section: "9"
platform: "linux"
package: "linuxcnc-uspace"
version: "1:2.9.4-2+deb13u1"
release: "Debian 13 (Trixie)"
platforms: ["linux"]
url: "https://new.carta.tech/orient"
---

# orient(9)

Provide a PID command input for orientation mode based on current spindle position, target angle and orient mode

## NAME

orient - Provide a PID command input for orientation mode based on current spindle position, target angle and orient mode

## SYNOPSIS

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

## DESCRIPTION

This component is designed to support a spindle orientation PID loop by providing a  command value, and fit with the motion spindle-orient support pins 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**.

The **mode** pin is interpreted as follows:

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

On **spindle.N.orient** disconnect the spindle control and connect to the orient-pid  loop:

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\

## FUNCTIONS

- **orient.***N* (requires a floating-point thread)

  Update **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

- **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

## AUTHOR

Michael Haberler

## LICENSE

GPL