On 15 October 2016 at 14:54, Erik Friesen <e...@aercon.net> wrote:
> #1.  What method could be used for a tool change recovery sequence?

That rather depends on what it takes to recover the situation, but
there is scope for reporting tool-changer errors through HAL and a
"magic comment"
If you control the tool change sequence through a G-code subroutine you can use

> #2.  Door switch safety?

Again, it rather depends on what behaviour you require. The logic can
be configured many different ways in HAL.

> #3.  For a brushless servo system without halls, how to get phases in
> sync with encoder.

The "bldc" component offers a few options. If there are no hall
signals then using the encoder index (if there is one) is probably

"A motorcycle is a bicycle with a pandemonium attachment and is
designed for the especial use of mechanical geniuses, daredevils and
— George Fitch, Atlanta Constitution Newspaper, 1916

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