​​Huanyang Spindle Driver Rewrite Test plan

​​Test cases

​​Normal cases

  • ​​Clockwise start/stop: S8000 M3 [pause] M5​
  • ​​spindle should start to 8000rpm, and stop when requested
  • ​​Counter-clockwise start/stop: S8000 M4 [pause] M5​
  • ​​spindle should start to 8000rpm CCW, and stop when requested
  • ​​Speed change: M3 S8000 [pause] S12000 M5​
  • ​​spindle should start to 8000rpm, then change to 12000rpm
  • ​​Door while running: S8000 M3 [open door] [close door]​
  • ​​spindle should start to 8000rpm, then stop when door is opened, and stay stopped when door is closed
  • ​​Restart after door/cycle-start: S8000 M3 [open door] [close door] ~​
  • ​​spindle should start to 8000rpm , stop when door is opened, and resume to 8000rpm when cycle-start is issued
  • ​​No restart if disabled during door/suspend: S8000 M3 [open door] [close door] M5 ~​
  • ​​spindle should start to 8000rpm , stop when door is opened, and stay stopped even when cycle-start is issued
  • ​​TODO: some test cases around spindle overrides (speed and state)
​​

​​Edge cases

  • ​​Start spindle, press STOP on VFD - should alarm
  • ​​M3, X100, press STOP on VFD - should alarm and kill motion
  • ​​Start spindle, disconnect RS485 - should alarm (spindle will keep running)
  • ​​now reconnect RS485 - spindle should stop as comms are reestablished
  • ​​Turn on ESP with VFD off; should not alarm
  • ​​now send M3 - should alarm since comms are not healthy
​​