On Wed, 8 Apr 2009 10:44:36 +0300, you wrote:

>Further, in emc-2.3 there is an input called at-speed which will tell emc2 
>to wait (in certain cases) until the commanded speed has been reached before 
>it moves on.

I found it in the Integrator manual, but the description assumes an
in-depth knowledge of EMC.

"it is easy to generate this signal with the HAL near component, by
comparing requested and actual spindle speeds."

I can't find anything on HAL near component.

An example would be helpful.

Steve Blackmore
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