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RC 舵机挂在运行 #582

推推 grbl 2年前 (2023-01-30) 141次浏览
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edplese 打开了这个问题 2020 年 9 月 7 日 · 8条评论
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RC 舵机挂在运行#582

edplese 打开了这个问题 2020 年 9 月 7 日 · 8条评论

注释

RC 舵机挂在运行 #582

您使用的是什么版本的固件？

主分支fbf1732，在 Mac 上使用 platform.io 编译。

还测试了几周前的一些旧提交，看看它是否是最近的更改。

问题是否可重复？

是的

什么情况下会出现bug？

我有一块 6 块板，版本 v1p1，在模块 3 中安装了一个 RC 伺服模块。我从 6_pack_stepstick_v1.h 配置开始，从 wiki 添加了伺服配置，还删除了轴 A、B 和 C 的步进器配置：https ://github.com/bdring/6-Pack_CNC_Controller/wiki/RC-Servo-BESC-CNC-IO-Module 。所有默认值都用于 GRBL 配置。

6_pack_stepstick_v1.h.txt

步进驱动器在此配置中工作正常。当我发出移动伺服轴的命令时，它似乎陷入了永无止境的“运行”状态：

g0a5
<Idle|MPos:0.000,0.000,0.000,0.000,0.000,0.000|FS:0,0|Pn:XYZ>
ok
<Run|MPos:0.000,0.000,0.000,0.000,0.000,0.000|FS:600,0|Pn:XYZ>
<Run|MPos:0.000,0.000,0.000,0.000,0.000,0.000|FS:600,0|Pn:XYZ|Ov:100,100,100|A:S>
<Run|MPos:0.000,0.000,0.000,0.000,0.000,0.000|FS:600,0|Pn:XYZ>

步进器工作正常。

模块引脚 1 上的 BESC 工作正常，当我将伺服系统连接到它时，它会在发出“m3 s5000”时移动。查看示波器上的引脚，我看到了正确的伺服脉冲。

A、B、C 轴的其他引脚 2、3、4 均输出恒定的 3.3V，没有脉冲。如果我将 A 轴移到引脚 1，它会显示相同的行为。

我也尝试定义 USE_SERVO_AXES 但这似乎不再需要并且没有任何影响。

我对 Grbl_Esp32 还很陌生，所以这很可能是用户错误。任何帮助，将不胜感激！
RC 舵机挂在运行 #582 edplese 添加了 漏洞 有些东西不工作标签 2020 年 9 月 7 日
RC 舵机挂在运行 #582
所有者

在此处粘贴您的引导消息

https://github.com/bdring/Grbl_Esp32/wiki/Requesting-Help#boot-messages
RC 舵机挂在运行 #582
作者

你好@bdring谢谢你的链接。为了输入命令，我通过 WebUI 这样做。

以下是引导消息：

[MSG:Grbl_ESP32 Ver 1.3a Date 20200828]
[MSG:Compiled with ESP32 SDK:v3.2.3-14-gd3e562907]
[MSG:Using machine:6 Pack Controller V1 (StepStick)]
[MSG:Axis count 6]
[MSG:I2S Steps, Stream]
[MSG:Init Motors]
[MSG:X  Axis standard stepper motor Step:I2SO(2) Dir:I2SO(1) Disable:I2SO(0)]
[MSG:Y  Axis standard stepper motor Step:I2SO(5) Dir:I2SO(4) Disable:I2SO(7)]
[MSG:Z  Axis standard stepper motor Step:I2SO(10) Dir:I2SO(9) Disable:I2SO(8)]
[MSG:A  Axis RC Servo motor Output:4 Min:0.000mm Max:10.000mm]
[MSG:B  Axis RC Servo motor Output:16 Min:0.000mm Max:20.000mm]
[MSG:C  Axis RC Servo motor Output:27 Min:0.000mm Max:15.000mm]
[MSG:Using StepStick Mode]
[MSG:BESC spindle on Pin:GPIO(26) Min:0.90ms Max:2.20ms Freq:50Hz Res:16bits]

[MSG:Client Started]
[MSG:Connecting ednetx]
[MSG:Connecting.]
[MSG:Connecting..]
[MSG:Connecting...]
[MSG:Connected with 192.168.1.97]
[MSG:Connected with 192.168.1.97]
[MSG:Start mDNS with hostname:http://grblesp.local/]
[MSG:SSDP Started]
[MSG:HTTP Started]
[MSG:TELNET Started 23]
[MSG:Probe on pin GPIO(34) Inverted:N]

还有设置：

$Sta/SSID=ednetx
$Sta/Password=******
$Sta/IPMode=Static
$Sta/IP=192.168.1.97
$Sta/Gateway=192.168.1.1
$Sta/Netmask=255.255.255.0
$AP/SSID=GRBL_ESP
$AP/Password=******
$AP/IP=192.168.0.1
$AP/Channel=1
$System/Hostname=grblesp
$Http/Enable=ON
$Http/Port=80
$Telnet/Enable=ON
$Telnet/Port=23
$Radio/Mode=STA
$Bluetooth/Name=btgrblesp
$Notification/Type=NONE
$Notification/T1=
$Notification/T2=
$Notification/TS=
$Report/StallGuard=
$Spindle/Type=BESC
$Stepper/Pulse=4
$Stepper/IdleTime=250
$Stepper/StepInvert=
$Stepper/DirInvert=
$Stepper/EnableInvert=Off
$Limits/Invert=On
$Probe/Invert=Off
$Report/Status=1
$GCode/JunctionDeviation=0.010
$GCode/ArcTolerance=0.002
$Report/Inches=Off
$Limits/Soft=Off
$Limits/Hard=Off
$Homing/Enable=Off
$Homing/DirInvert=XY
$Homing/Squared=
$Homing/Feed=200.000
$Homing/Seek=2000.000
$Homing/Debounce=250.000
$Homing/Pulloff=1.000
$GCode/MaxS=1000.000
$GCode/MinS=0.000
$GCode/LaserMode=Off
$GCode/Line1=
$GCode/Line0=
$Spindle/Enable/Invert=Off
$Spindle/Enable/OffWithSpeed=Off
$Spindle/Delay/SpinDown=0.000
$Spindle/Delay/SpinUp=0.000
$Spindle/PWM/Invert=Off
$Spindle/PWM/Frequency=5000.000
$Spindle/PWM/Off=0.000
$Spindle/PWM/Min=0.000
$Spindle/PWM/Max=100.000
$X/StepsPerMm=50.000
$Y/StepsPerMm=100.000
$Z/StepsPerMm=100.000
$A/StepsPerMm=100.000
$B/StepsPerMm=100.000
$C/StepsPerMm=100.000
$X/MaxRate=36000.000
$Y/MaxRate=1000.000
$Z/MaxRate=1000.000
$A/MaxRate=1000.000
$B/MaxRate=1000.000
$C/MaxRate=1000.000
$X/Acceleration=2000.000
$Y/Acceleration=200.000
$Z/Acceleration=200.000
$A/Acceleration=200.000
$B/Acceleration=200.000
$C/Acceleration=200.000
$X/MaxTravel=300.000
$Y/MaxTravel=300.000
$Z/MaxTravel=300.000
$A/MaxTravel=100.000
$B/MaxTravel=100.000
$C/MaxTravel=100.000
$X/Current/Run=0.250
$Y/Current/Run=0.250
$Z/Current/Run=0.250
$A/Current/Run=0.250
$B/Current/Run=0.250
$C/Current/Run=0.250
$X/Current/Hold=0.125
$Y/Current/Hold=0.125
$Z/Current/Hold=0.125
$A/Current/Hold=0.125
$B/Current/Hold=0.125
$C/Current/Hold=0.125
$X/Microsteps=16
$Y/Microsteps=16
$Z/Microsteps=16
$A/Microsteps=16
$B/Microsteps=16
$C/Microsteps=16
$X/StallGuard=16
$Y/StallGuard=16
$Z/StallGuard=16
$A/StallGuard=16
$B/StallGuard=16
$C/StallGuard=16
RC 舵机挂在运行 #582
所有者

手动发送命令

G0A0
G0 A10

A舵机动了吗？
RC 舵机挂在运行 #582
作者

你好@bdring发送 G0A0（通过 WebUI）后，伺服不会移动或保持位置。从通电开始，信号引脚保持在 3.3v 的高电平，并在 G0A0 命令之后继续。发出命令后，GRBL 会切换到运行状态，并且在我重置 ESP32 之前永远不会退出。

G0A0
ok
<Run|MPos:0.000,0.000,0.000,0.000,0.000,0.000|FS:600,0|Pn:XYZ>
<Run|MPos:0.000,0.000,0.000,0.000,0.000,0.000|FS:600,0|Pn:XYZ>
<Run|MPos:0.000,0.000,0.000,0.000,0.000,0.000|FS:600,0|Pn:XYZ>
<Run|MPos:0.000,0.000,0.000,0.000,0.000,0.000|FS:600,0|Pn:XYZ>
<Run|MPos:0.000,0.000,0.000,0.000,0.000,0.000|FS:600,0|Pn:XYZ>
<Run|MPos:0.000,0.000,0.000,0.000,0.000,0.000|FS:600,0|Pn:XYZ>
<Run|MPos:0.000,0.000,0.000,0.000,0.000,0.000|FS:600,0|Pn:XYZ>
<Run|MPos:0.000,0.000,0.000,0.000,0.000,0.000|FS:600,0|Pn:XYZ>
<Run|MPos:0.000,0.000,0.000,0.000,0.000,0.000|FS:600,0|Pn:XYZ|WCO:0.000,0.000,0.000, nan, nan, nan>
<Run|MPos:0.000,0.000,0.000,0.000,0.000,0.000|FS:600,0|Pn:XYZ|Ov:100,100,100|A:S>
<Run|MPos:0.000,0.000,0.000,0.000,0.000,0.000|FS:600,0|Pn:XYZ>
<Run|MPos:0.000,0.000,0.000,0.000,0.000,0.000|FS:600,0|Pn:XYZ>
<Run|MPos:0.000,0.000,0.000,0.000,0.000,0.000|FS:600,0|Pn:XYZ>
<Run|MPos:0.000,0.000,0.000,0.000,0.000,0.000|FS:600,0|Pn:XYZ>
<Run|MPos:0.000,0.000,0.000,0.000,0.000,0.000|FS:600,0|Pn:XYZ>
<Run|MPos:0.000,0.000,0.000,0.000,0.000,0.000|FS:600,0|Pn:XYZ>
<Run|MPos:0.000,0.000,0.000,0.000,0.000,0.000|FS:600,0|Pn:XYZ>
<Run|MPos:0.000,0.000,0.000,0.000,0.000,0.000|FS:600,0|Pn:XYZ>
<Run|MPos:0.000,0.000,0.000,0.000,0.000,0.000|FS:600,0|Pn:XYZ>
<Run|MPos:0.000,0.000,0.000,0.000,0.000,0.000|FS:600,0|Pn:XYZ>
RC 舵机挂在运行 #582
作者

我在不同的 ESP32 上尝试了一个更简单的配置，看到伺服信号正常工作。我将对此进行更多测试，看看是否可以缩小问题范围。
RC 舵机挂在运行 #582
所有者

你试过G0A10吗？

它插在什么插座上？
RC 舵机挂在运行 #582
作者

@bdring感谢您今天的帮助。我想通了这个问题。我从一个简单的配置到另一个 ESP32 上的相同的完整配置头文件，它工作正常，所以当我看到这些消息时，我重置了原来损坏的 EEPROM 设置：

$RST=* (probably only needed $RST=$)
[MSG:Servo calibration ($133) value error. 300.00 Reset to 100]
[MSG:Servo calibration ($134) value error. 300.00 Reset to 100]
[MSG:Servo calibration ($135) value error. 300.00 Reset to 100]

重新启动后，伺服系统一切正常。

作为这方面的更多背景知识，我最初加载了库存6_pack_stepstick_v1.h固件，然后将其修改为 A、B 和 C 成为伺服轴。进行此更改后，我不确定是否需要重置设置，当我检查设置时，所有值看起来都是正确的，就像它们已更新为伺服默认设置一样，所以我保留了它。

从错误来看，它必须仍然具有 300.00 值作为这些设置，但在查看设置时它显示为 100：

$A/MaxTravel=100.000
$B/MaxTravel=100.000
$C/MaxTravel=100.000

我现在很乐意解决这个问题，但我想传递这些细节，以防在设置方面没有按预期工作。

再次感谢你！
RC 舵机挂在运行 #582
所有者

设置问题是由于原始 Grbl 的刚性设置系统和难以添加新设置。使用新的设置系统，我们有更多的灵活性。

有一个名为 ServoSettings 的新分支，它有一种新的更简单的伺服系统工作方式。它应该在一两周内与 main 合并。
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