Problem: CNC Dev 4.1 not working correctly

animoose commented 1 year ago

Controller Board

CNC Dev 4.1 by Bart Dring (https://www.tindie.com/products/33366583/grbl_esp32-cnc-development-board-v41/) with TMC 2208 drivers or A4988 drivers.

Machine Description

Dev board as above attached to two NEMA17 1.8 degree steppers on the X and Y axes. All parts and cables are known to work correctly. Power supply is rated at 16V @ 4.5A. No endstops attached. SD card present.

Input Circuits

No response

Configuration file

Unmodified 3axis_v4.yaml from the repo (https://github.com/bdring/FluidNC/blob/main/example_configs/3axis_v4.yaml).

Startup Messages

$ss
[MSG:INFO: FluidNC v3.7.1]
[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 (dahe)]
[MSG:INFO: Board ESP32 Dev Controller V4]
[MSG:INFO: SPI SCK:gpio.18 MOSI:gpio.23 MISO:gpio.19]
[MSG:INFO: SD Card cs_pin:gpio.5 detect:NO_PIN freq:8000000]
[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 (10.000,310.000)]
[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 (10.000,310.000)]
[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 (-290.000,10.000)]
[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.2 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: Connecting to STA SSID:NoodleNet]
[MSG:INFO: Connecting.]
[MSG:INFO: Connecting..]
[MSG:INFO: Connected - IP is 192.168.50.18]
[MSG:INFO: WiFi on]
[MSG:INFO: Start mDNS with hostname:http://fluidnc.local/]
[MSG:INFO: SSDP Started]
[MSG:INFO: HTTP started on port 80]
[MSG:INFO: Telnet started on port 23]
ok

User Interface Software

WebUI, FluidTerm

What happened?

All of the following through the web ui. Cleared alarm. Issued jog command on X axis, for 1, 10 and 100 units. Each time the motor move by a tiny amount, possibly one step. In the case of the 100 unit move where there was a delay before the command completed, I think the step was near the end. Same behavior for Y axis. It is possible that what I observed was not a step at all, but just the motor energizing/de-energizing (it reminds me of the clunk noise sometimes heard when a RAMPS board is powered on).

Other Information

Also tried modifying the config file to reduce the steps/mm, max speed and acceleration - no difference.

Exactly the same hardware/motion system/power supply configuration works in Grbl Esp32 with the default Machines/3axis_v4.h configuration.

bdring commented 1 year ago

It could be the enable pin being inverted. Are the motors locked between moves?

Here is the config you are talking about for easy reference.

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: 800
    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: 800
    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: 800
    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: gpio.5
  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.2
  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%

animoose commented 1 year ago

That looks like the cause. The motors were locked between moved, and when I changed

shared_stepper_disable_pin: gpio.13:low

to

shared_stepper_disable_pin: gpio.13:high

it solved the problem. Thank you!

bdring / FluidNC