Work coodinates reset at the program end

[calabr]

sender 2.0.40p2 system GRBL 1.1h selecting work offset before ptogram start (G54 ) will use this offset as current working in the program. After program finished, iosender reset current offset to G53, but still show G54 selected in Work Parameters->Offset next start of the same program will use G53 as default. sender should not do any configuration without command. My use-case is mesure several workpiecees, remember offsets, then set cutter and run the same program for different workpieces.

[terjeio]

G53 is not an offset - it is for motion in machine coordinates and is valid only for the line it is present in. At program end (M2 or M30) the active coordinate system is set to G54, this is normal behaviour.

[calabr]

Sorry, I mean manually set G55, start program in G55, sender will reset it to G54 after programm ended. It's 2 confusing behawiour there -

1. machine working coordinates after program completed differ to work coordinate after program finished, but program didn't change it
2. sender changed something, but don't reflect it in GUI. Logically I can see 2 more fail-safe scenario: 1) sender use current CS as default one and return to it after M30 M2 - preferablr 2) sender didn't change anything and track, reflect in the GUI current state. 3) - allow both and give the user select it in config file.

[terjeio]

It is the controller that resets the coordinate system to G54 on program end, not the sender. See line 3062 and lines 3081 in the linked code segment. This is normal behaviour - grblHAL, Grbl and LinuxCNC does it and I guess most other controllers as it is part of the NIST RS274NGC v3 specification (see page 38).

[calabr]

Thank you to point me right direction! You right. GRPL resets to G54 after M30 and M2. Just ioSender didn't change current coordinate system in the GUI - probable this issue is inly with legacy GRBL. I believe grblHAL reports proactively of internal state change. is it possible to request state after program end and synchronize sender?

[terjeio]

I believe grblHAL reports proactively of internal state change.

Not always, I have missed program end if Parser state is not selected for $10 - status report options. Will fix in next commit.

is it possible to request state after program end and synchronize sender?

I do so already, here is the console output (with Verbose checked) from Grbl 1.1f on a Mega:

g55
<Idle|WPos:-2.000,0.000,0.000|FS:0,0|WCO:2.000,0.000,0.000>
<Idle|WPos:-2.000,0.000,0.000|FS:0,0|Ov:100,100,100>
<Idle|WPos:-2.000,0.000,0.000|FS:0,0>
m30
[MSG:Pgm End]
[GC:G1 G54 G17 G21 G90 G94 M5 M9 T0 F0 S0]
<Idle|WPos:0.000,0.000,0.000|FS:0,0|WCO:0.000,0.000,0.000>
<Idle|WPos:0.000,0.000,0.000|FS:0,0|Ov:100,100,100>
<Idle|WPos:0.000,0.000,0.000|FS:0,0>

You do not get the parser state response?

[calabr]

If program runs automatically - I see

<Run|MPos:-117.280,-106.488,-51.828|Bf:14,128|FS:4000,0>
<Run|MPos:-117.280,-106.488,-44.623|Bf:14,128|FS:1165,0>
[MSG:Pgm End]
<Idle|MPos:-117.280,-106.488,-42.895|Bf:15,128|FS:0,0|WCO:-191.208,-116.488,-62.895>
<Idle|MPos:-117.280,-106.488,-42.895|Bf:15,128|FS:0,0|Ov:100,100,100>
<Idle|MPos:-117.280,-106.488,-42.895|Bf:15,128|FS:0,0>

If I manually run G55 M30

<Idle|MPos:-117.280,-106.488,-42.895|Bf:15,128|FS:0,0|WCO:-127.280,-116.488,-62.895>
M30
[MSG:Pgm End]
[GC:G1 G54 G17 G21 G90 G94 M5 M9 M56 T0 F1000 S0]
<Idle|MPos:-117.280,-106.488,-42.895|Bf:15,128|FS:0,0|WCO:-191.208,-116.488,-62.895>```
But Offset list-box still show G56, which I set before starting program.

[terjeio]

I have fixed this in the latest commit of grblHAL. Legacy Grbl should be made a PR for with the neccesary changes?

[terjeio]

I have looked at changing the sender for lack of feedback from legacy Grbl, but I give up for now as I have to wait for coordinate changes having been executed in the controller before I can request a parser state request. Not easy to implement...

IMO somebody should get access to the Grbl repo so that PR requests could be merged - it has been dead for a long time now and if nobody takes over it is time to move on?

BTW, as a workaround in ioSender you may create a macro for $G and run it manually.