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The next generation of motion control firmware
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Problem: Jerky motion #1072

Closed TheJoker1234 closed 11 months ago

TheJoker1234 commented 11 months ago

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Jerky motion

Controller Board

ESP32 with separate motion control modules TB6600's

Machine Description

Gantry router

Input Circuits

No response

Configuration file

name: "ESP32 Dev Controller V4"
board: "ESP32 Dev Controller V4"

stepping:
  engine: RMT
  idle_ms: 250
  dir_delay_us: 1
  pulse_us: 2
  disable_delay_us: 0

axes:
  shared_stepper_disable_pin: gpio.13:low

  x:
    steps_per_mm: 126
    max_rate_mm_per_min: 2000
    acceleration_mm_per_sec2: 25
    max_travel_mm: 1000
    homing:
      cycle: 2
      mpos_mm: 10
      positive_direction: false

    motor0:
      limit_all_pin: gpio.17:low:pu
      stepstick:
        direction_pin: gpio.14
        step_pin: gpio.12
    motor1:
      null_motor:

  y:
    steps_per_mm: 126
    max_rate_mm_per_min: 2000
    acceleration_mm_per_sec2: 25
    max_travel_mm: 1000
    homing:
      cycle: 2
      mpos_mm: 10
      positive_direction: false

    motor0:
      limit_all_pin: gpio.4:low:pu
      stepstick:
        direction_pin: gpio.15
        step_pin: gpio.26
    motor1:
      null_motor:

  z:
    steps_per_mm: 252
    max_rate_mm_per_min: 2000
    acceleration_mm_per_sec2: 25
    max_travel_mm: 1000
    homing:
      cycle: 1
      mpos_mm: 10
      positive_direction: true

    motor0:
      limit_all_pin: gpio.16:low:pu
      stepstick:
        direction_pin: gpio.33
        step_pin: gpio.27
    motor1:
      null_motor:

spi:
  miso_pin: gpio.19
  mosi_pin: gpio.23
  sck_pin: gpio.18

sdcard:
  cs_pin: NO_PIN
  card_detect_pin: NO_PIN

coolant:
  flood_pin: gpio.25
  mist_pin:  gpio.21

probe:
  pin: gpio.32:low:pu

PWM:
  pwm_hz: 5000
  output_pin: gpio.5
  enable_pin: gpio.22
  direction_pin: NO_PIN
  disable_with_s0: false
  s0_with_disable: true
  spinup_ms: 0
  spindown_ms: 0
  tool_num: 0
  speed_map: 0=0% 10000=100%

Startup Messages

Resetting MCU
ets Jun  8 2016 00:22:57

rst:0x1 (POWERON_RESET),boot:0x13 (SPI_FAST_FLASH_BOOT)
configsip: 0, SPIWP:0xee
clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00
mode:DIO, clock div:1
load:0x3fff0030,len:1184
load:0x40078000,len:13220
ho 0 tail 12 room 4
load:0x40080400,len:3028
entry 0x400805e4

[MSG:INFO: FluidNC 3.7.10 https://github.com/bdring/FluidNC]
[MSG:INFO: Compiled with ESP32 SDK:v4.4.4]
[MSG:INFO: Local filesystem type is spiffs]
[MSG:INFO: Configuration file:config.yaml]
[MSG:INFO: Machine ESP32 Dev Controller V4]
[MSG:INFO: Board ESP32 Dev Controller V4]
[MSG:INFO: SPI SCK:gpio.18 MOSI:gpio.23 MISO:gpio.19]
[MSG:INFO: Stepping:RMT Pulse:2us Dsbl Delay:0us Dir Delay:1us Idle Delay:250ms]
[MSG:INFO: Axis count 3]
[MSG:INFO: Shared stepper disable gpio.13:low]
[MSG:INFO: Axis X (10.000,1010.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     stepstick Step:gpio.12 Dir:gpio.14 Disable:NO_PIN]
[MSG:INFO:  X All Limit gpio.17:low:pu]
[MSG:INFO:   Motor1]
[MSG:INFO: Axis Y (10.000,1010.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     stepstick Step:gpio.26 Dir:gpio.15 Disable:NO_PIN]
[MSG:INFO:  Y All Limit gpio.4:low:pu]
[MSG:INFO:   Motor1]
[MSG:INFO: Axis Z (-990.000,10.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     stepstick Step:gpio.27 Dir:gpio.33 Disable:NO_PIN]
[MSG:INFO:  Z All Limit gpio.16:low:pu]
[MSG:INFO:   Motor1]
[MSG:INFO: Kinematic system: Cartesian]
[MSG:INFO: PWM Spindle Ena:gpio.22 Out:gpio.5 Dir:NO_PIN Freq:5000Hz Period:8191]
[MSG:INFO: Using spindle PWM]
[MSG:INFO: Flood coolant gpio.25]
[MSG:INFO: Mist coolant gpio.21]
[MSG:INFO: Probe Pin: gpio.32:low:pu]
[MSG:INFO: AP SSID FluidNC IP 192.168.0.1 mask 255.255.255.0 channel 1]
[MSG:INFO: AP started]
[MSG:INFO: WiFi on]
[MSG:INFO: Captive Portal Started]
[MSG:INFO: HTTP started on port 80]
[MSG:INFO: Telnet started on port 23]

Grbl 3.7 [FluidNC 3.7.10 (wifi) '$' for help]
[MSG:INFO: ALARM: Unhomed]
ALARM:14

User Interface Software

Candle and UGS

What happened?

The gcode below causes a severe jerking motion on my cnc router. See video here https://youtu.be/EFscOcIaBYc

I have tried slowing the speed down (using F300 instead of F600), updating FluidNC and Candle and also trying UGS.

On the second up movement (after the initial rise to 55mm) it will often "stall" and lose steps.

I have not had issues with running other gcode on this machine, but this one seems to be a problem and I have no idea why.

GCode File

(Exported by FreeCAD) (Post Processor: grbl_post) (Output Time:2023-11-29 07:18:46.880742) (Begin preamble) G17 G90 G21 (Begin operation: G54) (Path: G54) G54 G0 Z55.000 (Finish operation: G54) (Begin operation: 3.18mm_endmill001) (Path: 3.18mm_endmill001) (3.18mm_endmill001) (Begin toolchange) ( M6 T2 ) M3 S10000 (Finish operation: 3.18mm_endmill001) (Begin operation: Route PCB opening) (Path: Route PCB opening) (Route PCB opening) (Compensated Tool Path. Diameter: 3.18) G0 Z55.000 G0 X8.395 Y-116.605 G0 Z55.000 (Finish operation: Route PCB opening) (Begin operation: Route holes) (Path: Route holes) (Route holes) (Compensated Tool Path. Diameter: 3.18) G0 X0.001 Y-7.500 Z55.000 G1 X0.001 Y-7.500 Z-0.250 F600.000 G2 X0.001 Y-7.500 Z-0.250 I-0.001 J-0.000 K0.000 F600.000 G1 X0.001 Y-7.500 Z-0.250 F600.000 G2 X-0.000 Y-7.500 Z-0.250 I-0.001 J0.001 K0.000 F600.000 G2 X0.001 Y-7.500 Z-0.250 I0.001 J0.000 K0.000 F600.000 G1 X0.001 Y-7.500 Z-0.500 F600.000 G2 X0.001 Y-7.500 Z-0.500 I-0.001 J-0.000 K0.000 F600.000 G1 X0.001 Y-7.500 Z-0.500 F600.000 G2 X-0.000 Y-7.500 Z-0.500 I-0.001 J0.001 K0.000 F600.000 G2 X0.001 Y-7.500 Z-0.500 I0.001 J0.000 K0.000 F600.000 G1 X0.001 Y-7.500 Z-0.750 F600.000 G2 X0.001 Y-7.500 Z-0.750 I-0.001 J-0.000 K0.000 F600.000 G1 X0.001 Y-7.500 Z-0.750 F600.000 G2 X-0.000 Y-7.500 Z-0.750 I-0.001 J0.001 K0.000 F600.000 G2 X0.001 Y-7.500 Z-0.750 I0.001 J0.000 K0.000 F600.000 G1 X0.001 Y-7.500 Z-1.000 F600.000 G2 X0.001 Y-7.500 Z-1.000 I-0.001 J-0.000 K0.000 F600.000 G1 X0.001 Y-7.500 Z-1.000 F600.000 G2 X-0.000 Y-7.500 Z-1.000 I-0.001 J0.001 K0.000 F600.000 G2 X0.001 Y-7.500 Z-1.000 I0.001 J0.000 K0.000 F600.000 G1 X0.001 Y-7.500 Z-1.250 F600.000 G2 X0.001 Y-7.500 Z-1.250 I-0.001 J-0.000 K0.000 F600.000 G1 X0.001 Y-7.500 Z-1.250 F600.000 G2 X-0.000 Y-7.500 Z-1.250 I-0.001 J0.001 K0.000 F600.000 G2 X0.001 Y-7.500 Z-1.250 I0.001 J0.000 K0.000 F600.000 G1 X0.001 Y-7.500 Z-1.500 F600.000 G2 X0.001 Y-7.500 Z-1.500 I-0.001 J-0.000 K0.000 F600.000 G1 X0.001 Y-7.500 Z-1.500 F600.000 G2 X-0.000 Y-7.500 Z-1.500 I-0.001 J0.001 K0.000 F600.000 G2 X0.001 Y-7.500 Z-1.500 I0.001 J0.000 K0.000 F600.000 G1 X0.001 Y-7.500 Z-1.750 F600.000 G2 X0.001 Y-7.500 Z-1.750 I-0.001 J-0.000 K0.000 F600.000 G1 X0.001 Y-7.500 Z-1.750 F600.000 G2 X-0.000 Y-7.500 Z-1.750 I-0.001 J0.001 K0.000 F600.000 G2 X0.001 Y-7.500 Z-1.750 I0.001 J0.000 K0.000 F600.000 G1 X0.001 Y-7.500 Z-2.000 F600.000 G2 X0.001 Y-7.500 Z-2.000 I-0.001 J-0.000 K0.000 F600.000 G1 X0.001 Y-7.500 Z-2.000 F600.000 G2 X-0.000 Y-7.500 Z-2.000 I-0.001 J0.001 K0.000 F600.000 G2 X0.001 Y-7.500 Z-2.000 I0.001 J0.000 K0.000 F600.000 G1 X0.001 Y-7.500 Z-2.250 F600.000 G2 X0.001 Y-7.500 Z-2.250 I-0.001 J-0.000 K0.000 F600.000 G1 X0.001 Y-7.500 Z-2.250 F600.000 G2 X-0.000 Y-7.500 Z-2.250 I-0.001 J0.001 K0.000 F600.000 G2 X0.001 Y-7.500 Z-2.250 I0.001 J0.000 K0.000 F600.000 G1 X0.001 Y-7.500 Z-2.500 F600.000 G2 X0.001 Y-7.500 Z-2.500 I-0.001 J-0.000 K0.000 F600.000 G1 X0.001 Y-7.500 Z-2.500 F600.000 G2 X-0.000 Y-7.500 Z-2.500 I-0.001 J0.001 K0.000 F600.000 G2 X0.001 Y-7.500 Z-2.500 I0.001 J0.000 K0.000 F600.000 G1 X0.001 Y-7.500 Z-2.750 F600.000 G2 X0.001 Y-7.500 Z-2.750 I-0.001 J-0.000 K0.000 F600.000 G1 X0.001 Y-7.500 Z-2.750 F600.000 G2 X-0.000 Y-7.500 Z-2.750 I-0.001 J0.001 K0.000 F600.000 G2 X0.001 Y-7.500 Z-2.750 I0.001 J0.000 K0.000 F600.000 G1 X0.001 Y-7.500 Z-3.000 F600.000 G2 X0.001 Y-7.500 Z-3.000 I-0.001 J-0.000 K0.000 F600.000 G1 X0.001 Y-7.500 Z-3.000 F600.000 G2 X-0.000 Y-7.500 Z-3.000 I-0.001 J0.001 K0.000 F600.000 G2 X0.001 Y-7.500 Z-3.000 I0.001 J0.000 K0.000 F600.000 G0 Z55.000 G0 X0.001 Y-7.500 G0 Y-110.500 G1 X0.001 Y-110.500 Z-0.250 F600.000 G2 X0.001 Y-110.500 Z-0.250 I-0.001 J-0.000 K0.000 F600.000 G2 X-0.000 Y-110.500 Z-0.250 I-0.001 J0.001 K0.000 F600.000 G2 X0.001 Y-110.500 Z-0.250 I0.001 J0.000 K0.000 F600.000 G1 X0.001 Y-110.500 Z-0.500 F600.000 G2 X0.001 Y-110.500 Z-0.500 I-0.001 J-0.000 K0.000 F600.000 G2 X-0.000 Y-110.500 Z-0.500 I-0.001 J0.001 K0.000 F600.000 G2 X0.001 Y-110.500 Z-0.500 I0.001 J0.000 K0.000 F600.000 G1 X0.001 Y-110.500 Z-0.750 F600.000 G2 X0.001 Y-110.500 Z-0.750 I-0.001 J-0.000 K0.000 F600.000 G2 X-0.000 Y-110.500 Z-0.750 I-0.001 J0.001 K0.000 F600.000 G2 X0.001 Y-110.500 Z-0.750 I0.001 J0.000 K0.000 F600.000 G1 X0.001 Y-110.500 Z-1.000 F600.000 G2 X0.001 Y-110.500 Z-1.000 I-0.001 J-0.000 K0.000 F600.000 G2 X-0.000 Y-110.500 Z-1.000 I-0.001 J0.001 K0.000 F600.000 G2 X0.001 Y-110.500 Z-1.000 I0.001 J0.000 K0.000 F600.000 G1 X0.001 Y-110.500 Z-1.250 F600.000 G2 X0.001 Y-110.500 Z-1.250 I-0.001 J-0.000 K0.000 F600.000 G2 X-0.000 Y-110.500 Z-1.250 I-0.001 J0.001 K0.000 F600.000 G2 X0.001 Y-110.500 Z-1.250 I0.001 J0.000 K0.000 F600.000 G1 X0.001 Y-110.500 Z-1.500 F600.000 G2 X0.001 Y-110.500 Z-1.500 I-0.001 J-0.000 K0.000 F600.000 G2 X-0.000 Y-110.500 Z-1.500 I-0.001 J0.001 K0.000 F600.000 G2 X0.001 Y-110.500 Z-1.500 I0.001 J0.000 K0.000 F600.000 G1 X0.001 Y-110.500 Z-1.750 F600.000 G2 X0.001 Y-110.500 Z-1.750 I-0.001 J-0.000 K0.000 F600.000 G2 X-0.000 Y-110.500 Z-1.750 I-0.001 J0.001 K0.000 F600.000 G2 X0.001 Y-110.500 Z-1.750 I0.001 J0.000 K0.000 F600.000 G1 X0.001 Y-110.500 Z-2.000 F600.000 G2 X0.001 Y-110.500 Z-2.000 I-0.001 J-0.000 K0.000 F600.000 G2 X-0.000 Y-110.500 Z-2.000 I-0.001 J0.001 K0.000 F600.000 G2 X0.001 Y-110.500 Z-2.000 I0.001 J0.000 K0.000 F600.000 G1 X0.001 Y-110.500 Z-2.250 F600.000 G2 X0.001 Y-110.500 Z-2.250 I-0.001 J-0.000 K0.000 F600.000 G2 X-0.000 Y-110.500 Z-2.250 I-0.001 J0.001 K0.000 F600.000 G2 X0.001 Y-110.500 Z-2.250 I0.001 J0.000 K0.000 F600.000 G1 X0.001 Y-110.500 Z-2.500 F600.000 G2 X0.001 Y-110.500 Z-2.500 I-0.001 J-0.000 K0.000 F600.000 G2 X-0.000 Y-110.500 Z-2.500 I-0.001 J0.001 K0.000 F600.000 G2 X0.001 Y-110.500 Z-2.500 I0.001 J0.000 K0.000 F600.000 G1 X0.001 Y-110.500 Z-2.750 F600.000 G2 X0.001 Y-110.500 Z-2.750 I-0.001 J-0.000 K0.000 F600.000 G2 X-0.000 Y-110.500 Z-2.750 I-0.001 J0.001 K0.000 F600.000 G2 X0.001 Y-110.500 Z-2.750 I0.001 J0.000 K0.000 F600.000 G1 X0.001 Y-110.500 Z-3.000 F600.000 G2 X0.001 Y-110.500 Z-3.000 I-0.001 J-0.000 K0.000 F600.000 G2 X-0.000 Y-110.500 Z-3.000 I-0.001 J0.001 K0.000 F600.000 G2 X0.001 Y-110.500 Z-3.000 I0.001 J0.000 K0.000 F600.000 G0 Z55.000 G0 X0.001 Y-110.500 G0 Y-188.500 G1 X0.001 Y-188.500 Z-0.250 F600.000 G2 X0.001 Y-188.500 Z-0.250 I-0.001 J-0.000 K0.000 F600.000 G2 X-0.000 Y-188.500 Z-0.250 I-0.001 J0.001 K0.000 F600.000 G2 X0.001 Y-188.500 Z-0.250 I0.001 J0.000 K0.000 F600.000 G1 X0.001 Y-188.500 Z-0.500 F600.000 G2 X0.001 Y-188.500 Z-0.500 I-0.001 J-0.000 K0.000 F600.000 G2 X-0.000 Y-188.500 Z-0.500 I-0.001 J0.001 K0.000 F600.000 G2 X0.001 Y-188.500 Z-0.500 I0.001 J0.000 K0.000 F600.000 G1 X0.001 Y-188.500 Z-0.750 F600.000 G2 X0.001 Y-188.500 Z-0.750 I-0.001 J-0.000 K0.000 F600.000 G2 X-0.000 Y-188.500 Z-0.750 I-0.001 J0.001 K0.000 F600.000 G2 X0.001 Y-188.500 Z-0.750 I0.001 J0.000 K0.000 F600.000 G1 X0.001 Y-188.500 Z-1.000 F600.000 G2 X0.001 Y-188.500 Z-1.000 I-0.001 J-0.000 K0.000 F600.000 G2 X-0.000 Y-188.500 Z-1.000 I-0.001 J0.001 K0.000 F600.000 G2 X0.001 Y-188.500 Z-1.000 I0.001 J0.000 K0.000 F600.000 G1 X0.001 Y-188.500 Z-1.250 F600.000 G2 X0.001 Y-188.500 Z-1.250 I-0.001 J-0.000 K0.000 F600.000 G2 X-0.000 Y-188.500 Z-1.250 I-0.001 J0.001 K0.000 F600.000 G2 X0.001 Y-188.500 Z-1.250 I0.001 J0.000 K0.000 F600.000 G1 X0.001 Y-188.500 Z-1.500 F600.000 G2 X0.001 Y-188.500 Z-1.500 I-0.001 J-0.000 K0.000 F600.000 G2 X-0.000 Y-188.500 Z-1.500 I-0.001 J0.001 K0.000 F600.000 G2 X0.001 Y-188.500 Z-1.500 I0.001 J0.000 K0.000 F600.000 G1 X0.001 Y-188.500 Z-1.750 F600.000 G2 X0.001 Y-188.500 Z-1.750 I-0.001 J-0.000 K0.000 F600.000 G2 X-0.000 Y-188.500 Z-1.750 I-0.001 J0.001 K0.000 F600.000 G2 X0.001 Y-188.500 Z-1.750 I0.001 J0.000 K0.000 F600.000 G1 X0.001 Y-188.500 Z-2.000 F600.000 G2 X0.001 Y-188.500 Z-2.000 I-0.001 J-0.000 K0.000 F600.000 G2 X-0.000 Y-188.500 Z-2.000 I-0.001 J0.001 K0.000 F600.000 G2 X0.001 Y-188.500 Z-2.000 I0.001 J0.000 K0.000 F600.000 G1 X0.001 Y-188.500 Z-2.250 F600.000 G2 X0.001 Y-188.500 Z-2.250 I-0.001 J-0.000 K0.000 F600.000 G2 X-0.000 Y-188.500 Z-2.250 I-0.001 J0.001 K0.000 F600.000 G2 X0.001 Y-188.500 Z-2.250 I0.001 J0.000 K0.000 F600.000 G1 X0.001 Y-188.500 Z-2.500 F600.000 G2 X0.001 Y-188.500 Z-2.500 I-0.001 J-0.000 K0.000 F600.000 G2 X-0.000 Y-188.500 Z-2.500 I-0.001 J0.001 K0.000 F600.000 G2 X0.001 Y-188.500 Z-2.500 I0.001 J0.000 K0.000 F600.000 G1 X0.001 Y-188.500 Z-2.750 F600.000 G2 X0.001 Y-188.500 Z-2.750 I-0.001 J-0.000 K0.000 F600.000 G2 X-0.000 Y-188.500 Z-2.750 I-0.001 J0.001 K0.000 F600.000 G2 X0.001 Y-188.500 Z-2.750 I0.001 J0.000 K0.000 F600.000 G1 X0.001 Y-188.500 Z-3.000 F600.000 G2 X0.001 Y-188.500 Z-3.000 I-0.001 J-0.000 K0.000 F600.000 G2 X-0.000 Y-188.500 Z-3.000 I-0.001 J0.001 K0.000 F600.000 G2 X0.001 Y-188.500 Z-3.000 I0.001 J0.000 K0.000 F600.000 G0 Z55.000 (Finish operation: Route holes) (Begin operation: Return to first hole) (Path: Return to first hole) (Return to first hole) (Compensated Tool Path. Diameter: 3.18) G0 X0.001 Y-7.500 G1 X0.001 Y-7.500 Z0.000 F600.000 G2 X0.001 Y-7.500 Z0.000 I-0.001 J-0.000 K0.000 F600.000 G1 X0.001 Y-7.500 Z0.000 F600.000 G2 X-0.000 Y-7.500 Z0.000 I-0.001 J0.001 K0.000 F600.000 G2 X0.001 Y-7.500 Z0.000 I0.001 J0.000 K0.000 F600.000 G0 Z55.000 (Finish operation: Return to first hole) (Begin postamble) M5 G17 G90 M2

Other Information

Here is the log file from UGS

ets Jun 8 2016 00:22:57 rst:0x1 (POWERON_RESET),boot:0x13 (SPI_FAST_FLASH_BOOT) configsip: 0, SPIWP:0xee clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00 mode:DIO, clock div:1 load:0x3fff0030,len:1184 load:0x40078000,len:13220 ho 0 tail 12 room 4 load:0x40080400,len:3028 entry 0x400805e4 Connecting to jserialcomm://COM3:115200 [MSG:INFO: FluidNC 3.7.10 https://github.com/bdring/FluidNC] [MSG:INFO: Compiled with ESP32 SDK:v4.4.4] [MSG:INFO: Local filesystem type is spiffs] [MSG:INFO: Configuration file:config.yaml] [MSG:INFO: Machine ESP32 Dev Controller V4] [MSG:INFO: Board ESP32 Dev Controller V4] [MSG:INFO: SPI SCK:gpio.18 MOSI:gpio.23 MISO:gpio.19] [MSG:INFO: Stepping:RMT Pulse:2us Dsbl Delay:0us Dir Delay:1us Idle Delay:250ms] [MSG:INFO: Axis count 3] [MSG:INFO: Shared stepper disable gpio.13:low] [MSG:INFO: Axis X (10.000,1010.000)] [MSG:INFO: Motor0] [MSG:INFO: stepstick Step:gpio.12 Dir:gpio.14 Disable:NO_PIN] [MSG:INFO: X All Limit gpio.17:low:pu] [MSG:INFO: Motor1] [MSG:INFO: Axis Y (10.000,1010.000)] [MSG:INFO: Motor0] [MSG:INFO: stepstick Step:gpio.26 Dir:gpio.15 Disable:NO_PIN] [MSG:INFO: Y All Limit gpio.4:low:pu] [MSG:INFO: Motor1] [MSG:INFO: Axis Z (-990.000,10.000)] [MSG:INFO: Motor0] [MSG:INFO: stepstick Step:gpio.27 Dir:gpio.33 Disable:NO_PIN] [MSG:INFO: Z All Limit gpio.16:low:pu] [MSG:INFO: Motor1] [MSG:INFO: Kinematic system: Cartesian] [MSG:INFO: PWM Spindle Ena:gpio.22 Out:gpio.5 Dir:NO_PIN Freq:5000Hz Period:8191] [MSG:INFO: Using spindle PWM] [MSG:INFO: Flood coolant gpio.25] [MSG:INFO: Mist coolant gpio.21] [MSG:INFO: Probe Pin: gpio.32:low:pu] [MSG:INFO: AP SSID FluidNC IP 192.168.0.1 mask 255.255.255.0 channel 1] [MSG:INFO: AP started] [MSG:INFO: WiFi on] [MSG:INFO: Captive Portal Started] [MSG:INFO: HTTP started on port 80] [MSG:INFO: Telnet started on port 23] Grbl 3.7 [FluidNC 3.7.10 (wifi) '$' for help] [MSG:INFO: ALARM: Unhomed] An unexpected error was detected: (ALARM:14) An unknown error has occurred Fetching device status

? <Alarm|MPos:0.000,0.000,0.000|FS:0,0|Pn:XYZ|WCO:0.000,0.000,0.000>

<Alarm|MPos:0.000,0.000,0.000|FS:0,0|Pn:XYZ|Ov:100,100,100> ok ok $I [VER:3.7 FluidNC 3.7.10:] [OPT:MPHS] [MSG: Machine: ESP32 Dev Controller V4] [MSG: Mode=STA:SSID=:Status=Not connected:IP=0.0.0.0:MAC=3C-71-BF-79-A5-8C] [MSG: ] [MSG:Mode=AP:SSID=FluidNC:IP=192.168.0.1:MAC=3C-71-BF-79-A5-8D] ok $$ $10 = 1 (Status report options, mask) $30 = 10000 (Maximum spindle speed, RPM) ok $G [GC:G0 G54 G17 G21 G90 G94 M5 M9 T0 F0 S0] ok *** Connected to GRBL 3.7 $X [MSG:INFO: Caution: Unlocked] ok

G17G90 G21

G54 ok ok ok ok ok ok ok ok G0Z55.000

M3S10000

G0Z55.000 G0X8.395Y-116.605 G0Z55.000

G0X0.001Y-7.500Z55.000 G1X0.001Y-7.500Z-0.250F300.000 ok ok ok ok ok ok ok ok ok ok ok ok ok ok ok G2X0.001Y-7.500Z-0.250I-0.001J-0.000K0.000F300.000 ok ok ok ok ok ok ok G1X0.001Y-7.500Z-0.250F300.000 ok ok G2X-0.000Y-7.500Z-0.250I-0.001J0.001K0.000F300.000 ok G2X0.001Y-7.500Z-0.250I0.001J0.000K0.000F300.000 ok G1X0.001Y-7.500Z-0.500F300.000 ok G2X0.001Y-7.500Z-0.500I-0.001J-0.000K0.000F300.000 G1X0.001Y-7.500Z-0.500F300.000 ok ok G2X-0.000Y-7.500Z-0.500I-0.001J0.001K0.000F300.000 ok G2X0.001Y-7.500Z-0.500I0.001J0.000K0.000F300.000 ok G1X0.001Y-7.500Z-0.750F300.000 ok G2X0.001Y-7.500Z-0.750I-0.001J-0.000K0.000F300.000 G1X0.001Y-7.500Z-0.750F300.000 ok ok G2X-0.000Y-7.500Z-0.750I-0.001J0.001K0.000F300.000 ok G2X0.001Y-7.500Z-0.750I0.001J0.000K0.000F300.000 ok G1X0.001Y-7.500Z-1.000F300.000 ok G2X0.001Y-7.500Z-1.000I-0.001J-0.000K0.000F300.000 G1X0.001Y-7.500Z-1.000F300.000 ok ok G2X-0.000Y-7.500Z-1.000I-0.001J0.001K0.000F300.000 ok G2X0.001Y-7.500Z-1.000I0.001J0.000K0.000F300.000 ok G1X0.001Y-7.500Z-1.250F300.000 ok G2X0.001Y-7.500Z-1.250I-0.001J-0.000K0.000F300.000 G1X0.001Y-7.500Z-1.250F300.000 ok ok G2X-0.000Y-7.500Z-1.250I-0.001J0.001K0.000F300.000 ok G2X0.001Y-7.500Z-1.250I0.001J0.000K0.000F300.000 ok G1X0.001Y-7.500Z-1.500F300.000 ok G2X0.001Y-7.500Z-1.500I-0.001J-0.000K0.000F300.000 G1X0.001Y-7.500Z-1.500F300.000 ok ok G2X-0.000Y-7.500Z-1.500I-0.001J0.001K0.000F300.000 ok G2X0.001Y-7.500Z-1.500I0.001J0.000K0.000F300.000 ok G1X0.001Y-7.500Z-1.750F300.000 ok G2X0.001Y-7.500Z-1.750I-0.001J-0.000K0.000F300.000 G1X0.001Y-7.500Z-1.750F300.000 ok ok G2X-0.000Y-7.500Z-1.750I-0.001J0.001K0.000F300.000 ok G2X0.001Y-7.500Z-1.750I0.001J0.000K0.000F300.000 ok G1X0.001Y-7.500Z-2.000F300.000 ok G2X0.001Y-7.500Z-2.000I-0.001J-0.000K0.000F300.000 G1X0.001Y-7.500Z-2.000F300.000 ok ok G2X-0.000Y-7.500Z-2.000I-0.001J0.001K0.000F300.000 ok G2X0.001Y-7.500Z-2.000I0.001J0.000K0.000F300.000 ok G1X0.001Y-7.500Z-2.250F300.000 ok G2X0.001Y-7.500Z-2.250I-0.001J-0.000K0.000F300.000 G1X0.001Y-7.500Z-2.250F300.000 ok ok G2X-0.000Y-7.500Z-2.250I-0.001J0.001K0.000F300.000 ok G2X0.001Y-7.500Z-2.250I0.001J0.000K0.000F300.000 ok G1X0.001Y-7.500Z-2.500F300.000 ok G2X0.001Y-7.500Z-2.500I-0.001J-0.000K0.000F300.000 G1X0.001Y-7.500Z-2.500F300.000 ok ok G2X-0.000Y-7.500Z-2.500I-0.001J0.001K0.000F300.000 ok G2X0.001Y-7.500Z-2.500I0.001J0.000K0.000F300.000 ok G1X0.001Y-7.500Z-2.750F300.000 ok G2X0.001Y-7.500Z-2.750I-0.001J-0.000K0.000F300.000 G1X0.001Y-7.500Z-2.750F300.000 ok ok G2X-0.000Y-7.500Z-2.750I-0.001J0.001K0.000F300.000 ok G2X0.001Y-7.500Z-2.750I0.001J0.000K0.000F300.000 ok G1X0.001Y-7.500Z-3.000F300.000 ok G2X0.001Y-7.500Z-3.000I-0.001J-0.000K0.000F300.000 G1X0.001Y-7.500Z-3.000F300.000 ok ok G2X-0.000Y-7.500Z-3.000I-0.001J0.001K0.000F300.000 ok G2X0.001Y-7.500Z-3.000I0.001J0.000K0.000F300.000 G0Z55.000 G0X0.001Y-7.500 ok G0Y-110.500 G1X0.001Y-110.500Z-0.250F300.000 ok G2X0.001Y-110.500Z-0.250I-0.001J-0.000K0.000F300.000 ok ok

Canceling file transfer.

Pausing file transfer.

ok ok Grbl 3.7 [FluidNC 3.7.10 (wifi) '$' for help]

MitchBradley commented 11 months ago

pulse_us: 2 is probably too short for a TB6600

TheJoker1234 commented 11 months ago

pulse_us: 2 is probably too short for a TB6600

What would be a better setting to use with the TB6600?

TheJoker1234 commented 11 months ago

One thing I should make clear is that I only lose steps on the up motion (the last up motion in the video). The jerking motion does not appear cause a loss of steps.

It's like the ESP32 has stopped sending pulses momentarily.

MitchBradley commented 11 months ago

You will just have to experiment. There are hundreds of products that contain TB6600 chips, with different kinds of optocouplers, so what works for on might not work for another.

The up motion looks like a motor stall. Maybe you have the current set too low, or are trying to move too fast, or the mechanical system is jammed, or the shaft coupler is loose, or any number of possible problems.

TheJoker1234 commented 11 months ago

Ok, I'll have a play around with that setting.

However I'm still not convinced that this is causing the jerking. If the TB6600's could not keep up, then I would expect to lose steps on the X and Y axis's when they are jerking around, but I'm not.

I've been using this machine for about 6 months and this job is the first time I've seen it.

bdring commented 11 months ago

There is almost always something on the wiki.

http://wiki.fluidnc.com/en/support/external_stepper_motor_drivers

bdring commented 11 months ago

and...

http://wiki.fluidnc.com/en/support/faq#skipping-steps

TheJoker1234 commented 11 months ago

So I've had a play around with those settings and they make absolutely no difference to either the jerky movement or the missing steps on the up movement.

One thing I did notice is that during that initial long movement (G0 X8.395 Y-116.605) multiple subsequent commands get sent and it appears that there is a brief pause in movement for each of those commands. When the commands are not being sent the movement is smooth. Each command that is sent while moving is met with an "ok" from the router. This same thing repeats every time there is jerky movement.

I tried a different file and it does not have the same jerky movement issue, and each command seems to get sent sequentially after the last is completed,

Any thoughts on this?

MitchBradley commented 11 months ago
  1. What sender are you using?
  2. We do not recommend using AP mode except for initial configuration. The Espressif AP code has memory leaks and can use lots of CPU cycles at random times.
TheJoker1234 commented 11 months ago
  1. Normally Candle, but I also tried UGS and it did the same thing.
  2. I will give that a go.
TheJoker1234 commented 11 months ago

I turned off the wifi altogether and it did make a small change - I no longer get the skipping of steps on the up movement. However I still get the jerking motion at the start of the first long movement.

TheJoker1234 commented 11 months ago

Some more testing... I tried the g-code on another router, still using Candle as the sender. This router is using a CNC xPro V5 controller, which I believe is using firmware that is the predecessor to FluidNC. It all worked as expected, nice smooth motion.

I'm not sure if that helps any, but currently I'm at a loss as to what might be causing the issue.

MitchBradley commented 11 months ago

Look closely at those motions. Consider the sequence:

G1X0.001Y-7.500Z-0.250F300.000
G2X0.001Y-7.500Z-0.250I-0.001J-0.000K0.000F300.000
G1X0.001Y-7.500Z-0.250F300.000

The position after the first line is (0.001,-7.500,-0.250). Now the second line says to make a circle of diameter 0.002 whose center is 0.001mm to the left of the current position. The X steps/mm is 126, or about 0.008 mm/step. So you are asking for circle whose diameter is about 1/4 of a microstep. The planner is going to have a really hard time doing anything with that.

There a quite a few similar "moves to nowhere".

TheJoker1234 commented 11 months ago

@MitchBradley you are correct, however that is not the issue ... or at least I don't believe it is (see my comment below).

The jerkyness happens DURING the first move (i.e. G0 X8.395 Y-116.605). This is a long move and should be smooth, but isn't.

Maybe those "zero moves" being sent to the controller WHILE it's doing the long move cause a problem???? but I suspect that if they are causing a problem, then this is an issue.

MitchBradley commented 11 months ago

While the long move is executing, the parser is parsing the followup moves and trying to plan them, so that the subsequent motion can be spliced onto the end of the first move without having to stop. It is possible that the code that converts arcs into segments is doing something bad when confronted with a arc whose radius is impossibly small.

TheJoker1234 commented 11 months ago

I think that is what is happening @MitchBradley . That original g-code is really just for drilling holes - the hole is 3.2mm and the bit is 3.18mm, hence the arcs. Anyway I manually change the g-code to simple up/down movements and the problem went away.