co-opting things like following error to a purpose that does not make 
any intuitive sense for makes me a little queasy.  The spindle-at-speed 
makes intuitive sense, because in the abstract it is simply the tool is 
ready flag.  It does not matter as much that the tool is spinning up, or 
the print head is heating up, they are both not ready until they are ;-) 
  Along those lines, I recall that there is a way to write a user test 
for touching off, etc.  So, pause until some trigger has been tripped 
(in your case you are hot enough).  I can see treating the heat-bed like 
a servo motor though, with a temperature acceleration/deceleration as 
simple rise/fall, and then you can run a bipolar switch with the PWD 
signal.  In this case the following error is the deviation from expected 
(a following error), but you would not simply slam it on because the 
temperature differential would trip a proper error trigger.  If you set 
it up that way, if the wire breaks and you loose control of either the 
thermistor or heater, then it will properly halt the system.

Anyway thems my 2c.

Also, it would be nice if in v3 we think about abstracting some of the 
names so that it is not mill centric -- using names line 
spindle-at-speed makes sense with lathes and mills, but not with many 
other applications.

Also/also, I got to thinking about the leadin problem that started some 
of the other discussions.  I would not want to start moving the tool 
until it was up to speed instead of moving into the part before it is 
running as expected.  If you wanted to actually get it moving before at 
full speed, you need to know what is the minimum speed that you are 
willing to start things as well as the target speed.  I am not sure how 
to specify that with standard g-code...

   EBo --

On Aug 16 2013 12:52 PM, Troy Jacobson wrote:
> I will look at the spindle-at-speed for M109,M190.  It could be a 
> better
> solution than busy waiting in a bash script.
>
> A cold extrude should probably fail a print.  If that is done by 
> triggering
> a following error, would there be a way to make it obvious that it 
> was the
> extruder temperature that is responsible?
>
>
>
>
> On Fri, Aug 16, 2013 at 1:36 PM, John Kasunich 
> <jmkasun...@fastmail.fm>wrote:
>
>>
>>
>> On Fri, Aug 16, 2013, at 02:28 PM, Charles Steinkuehler wrote:
>>
>>
>> > It sounds like this would work pretty well as a start, but unless 
>> I'm
>> > missing something it would still allow rapid moves on the extruder 
>> axis
>> > when the extruder wasn't at temperature.  Ideally all extruder 
>> movement
>> > should be gated by the extruder-at-temperature signal.
>>
>> Does 3D printing g-code ever rapid the extruder?
>>
>> I can understand wanting it fail-safe, such that nothing bad happens
>> if the g-code ever does command a rapid, even though it normally
>> doesn't.
>>
>> > Is there a way to disable motion on an axis via HAL without 
>> causing
>> > joint following errors (or is that perhaps the best way to do 
>> it...just
>> > mask the motion, let a joint following error happen, and deal with 
>> the
>> > fallout)?
>>
>> Perhaps a combination of the two approaches?  Use spindle-at-speed
>> to make it wait while the extruder heats up under normal 
>> circumstances
>> (without tripping on a following error).  And block the motion 
>> command
>> to the extruder axis (and only the extruder), so if it tries to 
>> rapid the
>> extruder during warm-up you will get a following error instead of
>> busting something.
>>
>> Blocking the motion command can be done with a mux2.  One input
>> connects to the source of the command (from motion).  The other
>> input is connected to the output.  That turns the mux into a track-
>> and-hold block.  Put it in hold mode (select the looped-back input)
>> when spindle-at-speed is false.
>>
>>
>> --
>>   John Kasunich
>>   jmkasun...@fastmail.fm
>>
>>
>> 
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