check_m5_encoder()
{
 
  count=200;
  do 
  {
    a=gvarget(9048+enumber);	//Encoder; 9048+enumber
    timer=5; do { timer--; } while (timer>0);
    b=gvarget(9048+enumber);	//Encoder; 9048+enumber
    if (a==b) {  count=0;  };
  } while (count>0);
 
};
 
m19_encoder_stop()
{
    timer=0;
    timeout=timer+3000; 
    do 
    { 
      timer++; 
      a=gvarget(9048+enumber);	//Enc Position relative to Z-label
      if (a<0) {a+=emax;};
 
      delta=a-stop_position;
      if (delta<eposition)
      {
       m=0-eposition;
       if (delta>m)    { timer=timeout+1; };
      };
 
    } while (timer<timeout);
 
};

m5_et10()
{
  pwm02=0;
 
  speed=0;
  channel=2;
  message=PLCCMD_SET_CNC_EXTVAR;
  command=0x32;
  parameter=1988+speed+(channel<<12);
  timer=10;do{timer--;}while(timer>0); 
};
 
et10_slow_speed()
{
 
  speed=200;
  channel=2;
  message=PLCCMD_SET_CNC_EXTVAR;
  command=0x32;
  parameter=1988+speed+(channel<<12);
  timer=500;do{timer--;}while(timer>0); 
 
};

//Spindle Stop
#define command	var00
#define parameter	var01
 
#include pins.h
 
#include m5_turning_et10_func.h
#include m5_turning_func.h
 
 
main()
{
 
  if (gvarget(8265)!=0)   //8265
  {
    //modbus_slow_speed();
    et10_slow_speed();
 
    enumber=1; //Encoder ID number
    emax=8192;
    eposition=20;
    stop_position=3000;
 
    m19_encoder_stop();
  };
 
  m5_et10();
  //m5_modbus();
 
  proc=plc_proc_idle;
 
  check_m5_encoder();
 
  gvarset(7370,0); timer=30;do{timer--;}while (timer>0); //Spindle State
 
  exit(99);	//normal exit 
};

//Turn on Spindle clockwise
 
#include pins.h
#include vars.h
 
#include turning_func.h
 
main()
{
  speed=eparam;
 
  gvarset(7370,1); timer=30;do{timer--;}while (timer>0); //Spindle State
  gvarset(7371,eparam); timer=30;do{timer--;}while (timer>0); //Spindle Speed Mirror register
 
  //check_shoulder();
  proc=plc_proc_spindle;
 
  //m3_modbus();
  m3_et10();
 
  check_m3_encoder();
 
  exit(99);
};