FluidNC 3.4.7 无法初始化电机。硬件配置在 ESP32_Grbl 中工作正常 #493

bDuthieDev

控制板

6 件装 V1p5 6/2020

董事会供应商的帮助

是的
不
不适用

机器描述

此时没有电机连接到 A 的 XYYZA 配置

配置文件

name: 6-pack 2130sg XYYZA 4xIn 4x5v 10vCNC (v6)
board: 6-pack

kinematics:
  Cartesian:

stepping:
  engine: I2S_static
  idle_ms: 255
  dir_delay_us: 0
  pulse_us: 4
  disable_delay_us: 0

axes:
  x:
    steps_per_mm: 100.000
    max_rate_mm_per_min: 1000.000
    acceleration_mm_per_sec2: 200.000
    max_travel_mm: 600.000
    soft_limits: true
    homing:
      cycle: 2
      mpos_mm: 0.000
      positive_direction: true
      settle_ms: 250.000
      seek_mm_per_min: 2000.000
      feed_mm_per_min: 200.000
      seek_scaler: 1.100
      feed_scaler: 5.000
    motor0:
      limit_all_pin: gpio.33:low
      hard_limits: false
      tmc_2130:
        direction_pin: i2so.1
        step_pin: i2so.2
        disable_pin: i2so.0
        run_amps: 1.250
        hold_amps: 0.250
        microsteps: 16
        stallguard: 16
        stallguard_debug: false
        run_mode: CoolStep
        homing_mode: Stallguard
        use_enable: false
        r_sense_ohms: 0.110
        cs_pin: i2so.3:low
    motor1:
      null_motor:
  y:
    steps_per_mm: 100.000
    max_rate_mm_per_min: 1000.000
    acceleration_mm_per_sec2: 200.000
    max_travel_mm: 640.000
    soft_limits: true
    homing:
      cycle: 2
      mpos_mm: 0.000
      positive_direction: true
      settle_ms: 250.000
      seek_mm_per_min: 2000.000
      feed_mm_per_min: 200.000
      seek_scaler: 1.100
      feed_scaler: 5.000
    motor0:
      limit_all_pin: gpio.32:low
      hard_limits: false
      tmc_2130:
        direction_pin: i2so.4
        step_pin: i2so.5
        disable_pin: i2so.7
        run_amps: 0.950
        hold_amps: 0.250
        microsteps: 8
        stallguard: 4
        stallguard_debug: false
        run_mode: CoolStep
        homing_mode: Stallguard
        use_enable: false
        r_sense_ohms: 0.110
        cs_pin: i2so.6:low
    motor1:
      limit_all_pin: gpio.35:low
      hard_limits: false
      tmc_2130:
        direction_pin: i2so.9
        step_pin: i2so.10
        disable_pin: i2so.8
        run_amps: 0.950
        hold_amps: 0.250
        microsteps: 8
        stallguard: 4
        stallguard_debug: false
        run_mode: CoolStep
        homing_mode: Stallguard
        use_enable: false
        r_sense_ohms: 0.110
        cs_pin: i2so.11:low
  z:
    steps_per_mm: 100.000
    max_rate_mm_per_min: 1000.000
    acceleration_mm_per_sec2: 200.000
    max_travel_mm: 75.000
    soft_limits: true
    homing:
      cycle: 1
      mpos_mm: 0.000
      positive_direction: false
      settle_ms: 250.000
      seek_mm_per_min: 2000.000
      feed_mm_per_min: 200.000
      seek_scaler: 1.100
      feed_scaler: 5.000
    motor0:
      limit_all_pin: gpio.34:low
      hard_limits: false
      tmc_2130:
        direction_pin: i2so.12
        step_pin: i2so.13
        disable_pin: i2so.15
        run_amps: 0.950
        hold_amps: 0.500
        microsteps: 8
        stallguard: 4
        stallguard_debug: false
        run_mode: CoolStep
        homing_mode: Stallguard
        use_enable: false
        r_sense_ohms: 0.110
        cs_pin: i2so.14:low
    motor1:
      null_motor:
  a:
    steps_per_mm: 100.000
    max_rate_mm_per_min: 1000.000
    acceleration_mm_per_sec2: 200.000
    max_travel_mm: 300.000
    soft_limits: false
    motor0:
      tmc_2130:
        direction_pin: i2so.17
        step_pin: i2so.18
        disable_pin: i2so.16
        run_amps: 0.250
        hold_amps: 0.125
        microsteps: 16
        stallguard: 16
        stallguard_debug: false
        run_mode: CoolStep
        homing_mode: Stallguard
        use_enable: false
        r_sense_ohms: 0.110
        cs_pin: i2so.19:low
    motor1:
      null_motor:

i2so:
  bck_pin: gpio.22
  data_pin: gpio.21
  ws_pin: gpio.17

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

sdcard:
  cs_pin: gpio.5

control:
  reset_pin: gpio.39
  feed_hold_pin: gpio.36
  cycle_start_pin: gpio.25:pu

coolant:
  delay_ms: 1000.000

probe:
  pin: gpio.2:pu
  check_mode_start: false

macros:
  startup_line0: 
  startup_line1: 
  macro0: 
  macro1: 
  macro2: 
  macro3: 

start:
  must_home: true
  check_limits: true
  deactivate_parking: false

user_outputs:

10V:
  tool_num: 0
  speed_map: 0=0.0% 12000=100.000%
  forward_pin: NO_PIN
  reverse_pin: NO_PIN
  output_pin: gpio.14
  enable_pin: gpio.26
  direction_pin: NO_PIN
  disable_with_s0: false
  s0_with_disable: true
  spinup_ms: 1000
  spindown_ms: 1000
  pwm_hz: 5000

laser:
  tool_num: 100
  speed_map: 0=0.0% 100=100.0%
  output_pin: gpio.27
  enable_pin: gpio.16
  disable_with_s0: false
  s0_with_disable: false
  pwm_hz: 5000

arc_tolerance_mm: 0.002
junction_deviation_mm: 0.010
verbose_errors: false
report_inches: false
enable_parking_override_control: false
use_line_numbers: false

启动消息

FluidNC

[MSG:INFO: FluidNC v3.4.7]
[MSG:INFO: Compiled with ESP32 SDK:v4.4.1-1-gb8050b365e]
[MSG:INFO: Local filesystem type is SPIFFS]
[MSG:INFO: Configuration file:config.yaml]
[MSG:INFO: Machine 6-pack 2130sg XYYZA 4xIn 4x5v 10vCNC (v6)]
[MSG:INFO: Board 6-pack]
[MSG:INFO: I2SO BCK:gpio.22 WS:gpio.17 DATA:gpio.21]
[MSG:INFO: SPI SCK:gpio.18 MOSI:gpio.23 MISO:gpio.19]
[MSG:INFO: SD Card cs_pin:gpio.5 detect:NO_PIN]
[MSG:INFO: Stepping:I2S_static Pulse:4us Dsbl Delay:0us Dir Delay:0us Idle Delay:255ms]
[MSG:INFO: Axis count 4]
[MSG:INFO: Axis X (-600.000,0.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     tmc_2130 Step:I2SO.2 Dir:I2SO.1 CS:I2SO.3:low Disable:I2SO.0 Index:-1 R:0.110]
[MSG:INFO:     All Limit gpio.33:low]
[MSG:INFO:   Motor1]
[MSG:INFO: Axis Y (-640.000,0.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     tmc_2130 Step:I2SO.5 Dir:I2SO.4 CS:I2SO.6:low Disable:I2SO.7 Index:-1 R:0.110]
[MSG:INFO:     All Limit gpio.32:low]
[MSG:INFO:   Motor1]
[MSG:INFO:     tmc_2130 Step:I2SO.10 Dir:I2SO.9 CS:I2SO.11:low Disable:I2SO.8 Index:-1 R:0.110]
[MSG:INFO:     All Limit gpio.35:low]
[MSG:INFO: Axis Z (0.000,75.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     tmc_2130 Step:I2SO.13 Dir:I2SO.12 CS:I2SO.14:low Disable:I2SO.15 Index:-1 R:0.110]
[MSG:INFO:     All Limit gpio.34:low]
[MSG:INFO:   Motor1]
[MSG:INFO: Axis A (-300.000,0.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     tmc_2130 Step:I2SO.18 Dir:I2SO.17 CS:I2SO.19:low Disable:I2SO.16 Index:-1 R:0.110]
[MSG:INFO:   Motor1]
[MSG:ERR: X Axis driver test failed. Check connection]
[MSG:INFO: Y Axis driver test passed]
[MSG:ERR: Y2 Axis driver test failed. Check connection]
[MSG:INFO: Z Axis driver test passed]
[MSG:ERR: A Axis driver test failed. Check motor power]
[MSG:INFO: Reset gpio.39]
[MSG:INFO: FeedHold gpio.36]
[MSG:INFO: CycleStart gpio.25:pu]
[MSG:INFO: Kinematic system: Cartesian]
[MSG:INFO: 10V Spindle Ena:gpio.26 Out:gpio.14 Dir:NO_PIN Fwd:NO_PIN Rev:NO_PIN Freq:5000Hz Res:13bits]
[MSG:INFO: Laser Spindle Ena:gpio.16 Out:gpio.27 Freq:5000Hz Res:13bits Laser mode:On]
[MSG:INFO: Using spindle 10V]
[MSG:INFO: Probe Pin: gpio.2:pu]
[MSG:INFO: Connecting to STA SSID:At_Home]
[MSG:INFO: Connecting.]
[MSG:INFO: Connected - IP is 192.168.99.81]
[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]

Grbl 3.4 [FluidNC v3.4.7 (wifi) '$' for help]
[MSG:INFO: '$H'|'$X' to unlock]


[MSG:Grbl_ESP32 Ver 1.3a Date 20211103]
[MSG:Compiled with ESP32 SDK:v3.2.3-14-gd3e562907]
[MSG:Using machine:6-pack 2130sg XYYZA 4xIn 4x5v 10vCNC (v6)]
[MSG:Axis count 4]
[MSG:I2S Steps, Stream]
[MSG:Reset switch on pin GPIO(39)]
[MSG:Hold switch on pin GPIO(36)]
[MSG:Start switch on pin GPIO(25)]
[MSG:Init Motors]
[MSG:TMCStepper Library Ver. 0x000703]
[MSG:X  Axis Trinamic TMC2130 Step:I2SO(2) Dir:I2SO(1) CS:I2SO(3) Disable:I2SO(0) Index:-1 R:0.110 Limits(0.000,600.000)]
[MSG:X  Axis Trinamic driver test passed]
[MSG:Y  Axis Trinamic TMC2130 Step:I2SO(5) Dir:I2SO(4) CS:I2SO(6) Disable:I2SO(7) Index:-1 R:0.110 Limits(0.000,640.000)]
[MSG:Y  Axis Trinamic driver test passed]
[MSG:Y2 Axis Trinamic TMC2130 Step:I2SO(10) Dir:I2SO(9) CS:I2SO(11) Disable:I2SO(8) Index:-1 R:0.110 Limits(0.000,640.000)]
[MSG:Y2 Axis Trinamic driver test passed]
[MSG:Z  Axis Trinamic TMC2130 Step:I2SO(13) Dir:I2SO(12) CS:I2SO(14) Disable:I2SO(15) Index:-1 R:0.110 Limits(-75.000,0.000)]
[MSG:Z  Axis Trinamic driver test passed]
[MSG:A  Axis Trinamic TMC2130 Step:I2SO(18) Dir:I2SO(17) CS:I2SO(19) Disable:I2SO(16) Index:-1 R:0.110 Limits(-300.000,0.000)]
[MSG:A  Axis Trinamic driver test failed. Check connection]
[MSG:Laser spindle on Pin:GPIO(27), Enbl:GPIO(16), Freq:5000Hz, Res:13bits Laser mode:On]

[MSG:Client Started]
[MSG:Connecting At_Home]
[MSG:Connecting.]
[MSG:Connecting..]
[MSG:Connecting...]
[MSG:Connecting....]
[MSG:Connected with 192.168.99.81]
[MSG:Connected with 192.168.99.81]
[MSG:Start mDNS with hostname:http://CNC-Live.local/]
[MSG:SSDP Started]
[MSG:HTTP Started]
[MSG:TELNET Started 23]
[MSG:X  Axis limit switch on pin GPIO(33)]
[MSG:Y  Axis limit switch on pin GPIO(32)]
[MSG:Y2 Axis limit switch on pin GPIO(35)]
[MSG:Z  Axis limit switch on pin GPIO(34)]
[MSG:Probe on pin GPIO(2)]

Grbl 1.3a ['$' for help]
[MSG:'$H'|'$X' to unlock]

#pragma once
/*
    myEsp32_2130v6.h
*/
#define MACHINE_NAME  "6-pack 2130sg XYYZA 4xIn 4x5v 10vCNC (v6)"
#define N_AXIS 4

// I2S (steppers & other output-only pins)
#define USE_I2S_OUT
#define USE_I2S_STEPS

#define I2S_OUT_BCK      GPIO_NUM_22
#define I2S_OUT_WS       GPIO_NUM_17
#define I2S_OUT_DATA     GPIO_NUM_21

#define TRINAMIC_RUN_MODE      Motors::TrinamicMode::CoolStep
#define TRINAMIC_HOMING_MODE   Motors::TrinamicMode::StallGuard

#define X_TRINAMIC_DRIVER       2130
#define X_DISABLE_PIN           I2SO(0)
#define X_DIRECTION_PIN         I2SO(1)
#define X_STEP_PIN              I2SO(2)
#define X_CS_PIN                I2SO(3)
#define X_RSENSE                TMC2130_RSENSE_DEFAULT

#define Y_TRINAMIC_DRIVER       2130
#define Y_DIRECTION_PIN         I2SO(4)
#define Y_STEP_PIN              I2SO(5)
#define Y_DISABLE_PIN           I2SO(7)
#define Y_CS_PIN                I2SO(6)
#define Y_RSENSE                X_RSENSE

#define Y2_TRINAMIC_DRIVER      2130
#define Y2_DISABLE_PIN          I2SO(8)
#define Y2_DIRECTION_PIN        I2SO(9)
#define Y2_STEP_PIN             I2SO(10)
#define Y2_CS_PIN               I2SO(11)
#define Y2_RSENSE               X_RSENSE

#define Z_TRINAMIC_DRIVER       2130
#define Z_DIRECTION_PIN         I2SO(12)
#define Z_STEP_PIN              I2SO(13)
#define Z_DISABLE_PIN           I2SO(15)
#define Z_CS_PIN                I2SO(14)
#define Z_RSENSE                X_RSENSE

#define A_TRINAMIC_DRIVER       2130
#define A_DISABLE_PIN           I2SO(16)
#define A_DIRECTION_PIN         I2SO(17)
#define A_STEP_PIN              I2SO(18)
#define A_CS_PIN                I2SO(19)
#define A_RSENSE                X_RSENSE

// Socket #1 (Empty)
// Install StallGuard Jumpers
#define X_LIMIT_PIN 	GPIO_NUM_33     // Sg1
#define Y_LIMIT_PIN 	GPIO_NUM_32     // Sg2
#define Y2_LIMIT_PIN 	GPIO_NUM_35     // Sg3
#define Z_LIMIT_PIN 	GPIO_NUM_34     // Sg4

// If some of the control pin switches are normally closed
// (the default is normally open), you can invert some of them
// with INVERT_CONTROL_PIN_MASK.  The bits in the mask are
// Cycle Start, Feed Hold, Reset, Safety Door.  To use a
// normally open switch on Reset, you would say
// #define INVERT_CONTROL_PIN_MASK B1101
#ifdef INVERT_CONTROL_PIN_MASK
#    undef INVERT_CONTROL_PIN_MASK
#endif
#define INVERT_CONTROL_PIN_MASK B0001

// Socket #2
// 4x Switch Input module
#define PROBE_PIN			    GPIO_NUM_2
#define CONTROL_CYCLE_START_PIN	GPIO_NUM_25
#define CONTROL_RESET_PIN		GPIO_NUM_39
#define CONTROL_FEED_HOLD_PIN	GPIO_NUM_36

#define SPINDLE_TYPE   		SpindleType::LASER

// Socket #3 - 5v Output Module
#define SPINDLE_ENABLE_PIN	GPIO_NUM_26  // Pin #1 - 
//#define UNUSED_FOR_NOW	GPIO_NUM_4   // Pin #2
#define LASER_ENABLE_PIN	GPIO_NUM_16  // Pin #3 
#define LASER_OUTPUT_PIN	GPIO_NUM_27	 // Pin #4 - Laser PWM

// Socket #4 - 0-10v CNC Module
#define SPINDLE_OUTPUT_PIN	GPIO_NUM_14 // (0-10v) SPINDLE_OUTPUT
//#define UNUSED_OUT1	 	GPIO_NUM_13 // (Out1) 
//#define UNUSED_OUT2		GPIO_NUM_15 // (Out2) 

// Socket #5
// #1 I2SO(24)  (output only)
// #2 I2SO(25)  (output only)
// #3 I2SO(26)  (output only)
// #4 I2SO(27)  (output only)


// === Default settings
#define DEFAULT_STEP_PULSE_MICROSECONDS I2S_OUT_USEC_PER_PULSE

$Sta/SSID=At_Home
$Sta/Password=******
$Sta/IPMode=Static
$Sta/IP=192.168.99.81
$Sta/Gateway=192.168.99.1
$Sta/Netmask=255.255.255.0
$AP/SSID=GRBL_ESP2
$AP/Password=******
$AP/IP=192.168.0.1
$AP/Channel=1
$System/Hostname=CNC-Live
$Http/Enable=ON
$Http/Port=80
$Telnet/Enable=ON
$Telnet/Port=23
$Radio/Mode=STA
$Bluetooth/Name=btgrblesplive
$Notification/Type=NONE
$Notification/T1=
$Notification/T2=
$Notification/TS=
$Message/Level=Info
$User/Macro0=
$User/Macro1=
$User/Macro2=
$User/Macro3=
$Homing/Cycle0=Z
$Homing/Cycle1=X
$Homing/Cycle2=Y
$Homing/Cycle3=
$Homing/Cycle4=
$Homing/Cycle5=
$Report/StallGuard=
$Stepper/Enable/Delay=0
$Stepper/Direction/Delay=0
$Stepper/Pulse=4
$Stepper/IdleTime=255
$Stepper/StepInvert=
$Stepper/DirInvert=Y
$Stepper/EnableInvert=Off
$Limits/Invert=On
$Probe/Invert=Off
$Report/Status=1
$GCode/JunctionDeviation=0.010
$GCode/ArcTolerance=0.002
$Report/Inches=Off
$Firmware/Build=Main:7b24e57:myEsp32_2130v6
$Limits/Soft=On
$Limits/Hard=Off
$Homing/Enable=On
$Homing/DirInvert=XY
$Homing/Squared=Y
$Homing/Feed=200.000
$Homing/Seek=800.000
$Homing/Debounce=250.000
$Homing/Pulloff=2.000
$GCode/MaxS=12000.000
$GCode/MinS=0.000
$Laser/FullPower=100
$GCode/LaserMode=On
$GCode/Line1=
$GCode/Line0=
$Spindle/Enable/Invert=Off
$Spindle/Enable/OffWithSpeed=Off
$Coolant/Delay/TurnOn=1.000
$Spindle/Delay/SpinDown=5.000
$Spindle/Delay/SpinUp=5.000
$Spindle/PWM/Invert=Off
$Spindle/PWM/Frequency=5000.000
$Spindle/PWM/Off=0.000
$Spindle/PWM/Min=0.000
$Spindle/PWM/Max=100.000
$Spindle/Type=LASER
$X/StepsPerMm=400.000
$Y/StepsPerMm=400.000
$Z/StepsPerMm=800.000
$A/StepsPerMm=100.000
$B/StepsPerMm=100.000
$C/StepsPerMm=100.000
$X/MaxRate=2500.000
$Y/MaxRate=2500.000
$Z/MaxRate=1000.000
$A/MaxRate=1000.000
$B/MaxRate=1000.000
$C/MaxRate=1000.000
$X/Acceleration=200.000
$Y/Acceleration=200.000
$Z/Acceleration=200.000
$A/Acceleration=200.000
$B/Acceleration=200.000
$C/Acceleration=200.000
$X/Home/Mpos=0.000
$Y/Home/Mpos=0.000
$Z/Home/Mpos=0.000
$A/Home/Mpos=0.000
$B/Home/Mpos=0.000
$C/Home/Mpos=0.000
$X/MaxTravel=600.000
$Y/MaxTravel=640.000
$Z/MaxTravel=75.000
$A/MaxTravel=300.000
$B/MaxTravel=300.000
$C/MaxTravel=300.000
$X/Current/Run=1.250
$Y/Current/Run=0.950
$Z/Current/Run=0.950
$A/Current/Run=0.800
$B/Current/Run=0.800
$C/Current/Run=0.800
$X/Current/Hold=0.250
$Y/Current/Hold=0.250
$Z/Current/Hold=0.500
$A/Current/Hold=0.400
$B/Current/Hold=0.400
$C/Current/Hold=0.400
$X/Microsteps=8
$Y/Microsteps=8
$Z/Microsteps=8
$A/Microsteps=16
$B/Microsteps=16
$C/Microsteps=16
$X/StallGuard=4
$Y/StallGuard=4
$Z/StallGuard=4
$A/StallGuard=16
$B/StallGuard=16
$C/StallGuard=16
$Errors/Verbose=Off



### User Interface Software

Using WebUI and FluidTerm .

### What happened?

Updated to FluidNC from GRBL_Esp32. Created config.yaml use the tool, then edited to conform to machine settings.. The motors init correctly in GRBL_Esp32, and the machine runs correctly. The motors fail to init in FluidNC. 

 Seems as if I must have created some error in config.yaml. I just can't find it myself.

This is with the downloaded version of FluidNC 3.4.7.

### Other Information

_No response_