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grblHAL core code and master Wiki
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Rotational Axis behaving as linear #446

Closed Banchad2 closed 2 months ago

Banchad2 commented 4 months ago

I have a 5 axis compile going on a flexihal where I am intending to use the B axis as a ATC carousel. I'm seeing behaviour where the B axis is not behaving as a rotational axis instead as a linear. I CAN bodge it to work but I am not keen that going forward as I have a feeling that will cause problems down the road.

I've attached a screenshot below of the settings along with a backup of the settings file(hopefully I'm just being an idiot and have settings incorrectly configured)

image

image

settings.txt

terjeio commented 4 months ago

What is not behaving as you would expect?

Banchad2 commented 4 months ago

What is not behaving as you would expect?

As I understand it the rotary axis should operate in degrees. IE Servo is configured to 8000pul/rev, 10:1 gearbox means that actually translates to 80,000. Setting grblhal step/rev to 80,000 and jogging by 1 unit(expected to be degree) makes a full 360 degree rotation. Settings above are the settings to make 1 unit jog = 1 degree rotation but this results in the rotation speed being wildly out from reality. Its also able to rotate past 360 and does not wrap back to 0.

terjeio commented 4 months ago

The axis units shown are wrong due to the build including all spindles. There is a new spindle type among them, Stepper, that changes the units, and does so even when not enabled. So read "deg" instead of "rev" and configure accordingly. I'll fix this in the next commit.

Its also able to rotate past 360 and does not wrap back to 0.

This is how it should be, a rotary should be able to move more than one rotation and still keep track of the tooltip position in 3D space.