> 
>> But really when ever could you change directions with out stopping
>> first? The way I'm talking gives the integrator the all choices
>> 
> 
> The only example that comes to mind is rigid tapping in a mill

Actually not true. The spindle must stop but only for an instant.
There is no reason it could not stop for at the bottom of the rigid
tapping routine and wait for the spindle to reverse. You could then
in theory use a regular spindle drive (fwd/rev/off)  for rigid tapping.
using a brake or hitting reverse to stop. The stop spindle pin makes 
this easier :) 

> however the goal should be to not hard code the behavior into
> EMC's main code. Adding additional inputs from HAL that allow 
> the implementer to control the behavior should allow everyone
> to have the behavior that they desire.
I agree I like choices.

> 
> Steve Stallings
>
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