问题：轴归位速度和步骤错误，归位后轴不再正确点动 #503

赛梅库茨

控制板

6 件套
插座/板
1 / 4x 开关输入模块
2 / 4x 开关输入模块
3 / 继电器模块
4 / 5v 输出模块
5 / Quad MOSFET CNC I/O 模块

董事会供应商的帮助

是的
不
不适用

机器描述

固定龙门铣床，每轴单个 Nema 23 驱动丝杠，x/y 两端都有限位开关，z 只有正限位开关，主轴是通过连接到继电器模块的固态继电器 SSR-60DA 控制的趋势铣床. 我安装了 4 个 TMC5160，但只配置了 3 个。

配置文件

board: 6 P ack
name: 6 Pack External XYZA Relay
meta: 2022-06-07 B. Dring for Syme Kutz 331662
stepping:
  engine: I2S_stream
  idle_ms: 250
  pulse_us: 4
  dir_delay_us: 1
  disable_delay_us: 0
  segments: 12

axes:
  shared_stepper_disable_pin: NO_PIN
  shared_stepper_reset_pin: NO_PIN
  x:
    steps_per_mm: 615.000
    max_rate_mm_per_min: 1500.000
    acceleration_mm_per_sec2: 20.000
    max_travel_mm: 500.000
    soft_limits: false
    homing:
      cycle: 2
      allow_single_axis: true
      positive_direction: false
      mpos_mm: 0.000
      feed_mm_per_min: 500.000
      seek_mm_per_min: 1000.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100

    motor0:
      limit_neg_pin: gpio.33:low
      limit_pos_pin: gpio.32:low
      limit_all_pin: NO_PIN
      hard_limits: true
      pulloff_mm: 15.000
      tmc_5160:
        step_pin: I2SO.2
        direction_pin: I2SO.1:low
        disable_pin: I2SO.0
        r_sense_ohms: 0.075
        run_amps: 2.500
        hold_amps: 1.000
        microsteps: 16
        toff_disable: 0
        toff_stealthchop: 5
        use_enable: false
        cs_pin: I2SO.3
        spi_index: -1
        run_mode: StealthChop
        homing_mode: StealthChop
        stallguard: 0
        stallguard_debug: false
        toff_coolstep: 3
        tpfd: 4
  y:
    steps_per_mm: 400.000
    max_rate_mm_per_min: 1500.000
    acceleration_mm_per_sec2: 20.000
    max_travel_mm: 500.000
    soft_limits: false
    homing:
      cycle: 2
      allow_single_axis: true
      positive_direction: false
      mpos_mm: 0.000
      feed_mm_per_min: 500.000
      seek_mm_per_min: 1000.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100

    motor0:
      limit_neg_pin: gpio.34:low
      limit_pos_pin: gpio.35:low
      limit_all_pin: NO_PIN
      hard_limits: true
      pulloff_mm: 15.000
      tmc_5160:
        step_pin: I2SO.5
        direction_pin: I2SO.4:high
        disable_pin: I2SO.7
        r_sense_ohms: 0.075
        run_amps: 2.500
        hold_amps: 1.000
        microsteps: 16
        toff_disable: 0
        toff_stealthchop: 5
        use_enable: false
        cs_pin: I2SO.6
        spi_index: -1
        run_mode: StealthChop
        homing_mode: StealthChop
        stallguard: 0
        stallguard_debug: false
        toff_coolstep: 3
        tpfd: 4
  z:
    steps_per_mm: 615.000
    max_rate_mm_per_min: 500.000
    acceleration_mm_per_sec2: 10.000
    max_travel_mm: 300.000
    soft_limits: false+-
    homing:
      cycle: 1
      allow_single_axis: true
      positive_direction: true
      mpos_mm: 150.000
      feed_mm_per_min: 150.000
      seek_mm_per_min: 300.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100

    motor0:
      limit_neg_pin: gpio.36:low
      limit_pos_pin: NO_PIN
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 15.000
      tmc_5160:
        step_pin: I2SO.10
        direction_pin: I2SO.9:low
        disable_pin: I2SO.8
        r_sense_ohms: 0.075
        run_amps: 2.500
        hold_amps: 1.000
        microsteps: 16
        toff_disable: 0
        toff_stealthchop: 5
        use_enable: false
        cs_pin: I2SO.11
        spi_index: -1
        run_mode: StealthChop
        homing_mode: StealthChop
        stallguard: 0
        stallguard_debug: false
        toff_coolstep: 3
        tpfd: 4
  
kinematics:
  Cartesian:

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
  card_detect_pin: NO_PIN

control:
  safety_door_pin: NO_PIN
  reset_pin: NO_PIN
  feed_hold_pin: NO_PIN
  cycle_start_pin: NO_PIN
  macro0_pin: NO_PIN
  macro1_pin: NO_PIN
  macro2_pin: NO_PIN
  macro3_pin: NO_PIN

coolant:
  flood_pin: NO_PIN
  mist_pin: NO_PIN
  delay_ms: 0

probe:
  pin: gpio.2
  check_mode_start: true

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

start:
  must_home: true
  deactivate_parking: false
  check_limits: false

user_outputs:
  analog0_pin: NO_PIN
  analog1_pin: NO_PIN
  analog2_pin: NO_PIN
  analog3_pin: NO_PIN
  analog0_hz: 5000
  analog1_hz: 5000
  analog2_hz: 5000
  analog3_hz: 5000
  digital0_pin: NO_PIN
  digital1_pin: NO_PIN
  digital2_pin: NO_PIN
  digital3_pin: NO_PIN

arc_tolerance_mm: 0.002
junction_deviation_mm: 0.010
verbose_errors: true
report_inches: false
enable_parking_override_control: false
use_line_numbers: false
planner_blocks: 16

Relay:
  direction_pin: NO_PIN
  output_pin: gpio.26
  enable_pin: NO_PIN
  disable_with_s0: false
  s0_with_disable: true
  spinup_ms: 0
  spindown_ms: 0
  tool_num: 100
  speed_map: 0=0.000% 0=100.000% 1=100.000%

启动消息

[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:6P_5160_XYZA_Relay.yaml]
[MSG:INFO: Machine 6 Pack External XYZA Relay]
[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_stream Pulse:4us Dsbl Delay:0us Dir Delay:1us Idle Delay:250ms]
[MSG:INFO: Axis count 3]
[MSG:INFO: Axis X (0.000,500.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     tmc_5160 Step:I2SO.2 Dir:I2SO.1:low CS:I2SO.3 Disable:I2SO.0 Index:-1 R:0.075]
[MSG:INFO:     Neg Limit gpio.33:low]
[MSG:INFO:     Pos Limit gpio.32:low]
[MSG:INFO: Axis Y (0.000,500.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     tmc_5160 Step:I2SO.5 Dir:I2SO.4 CS:I2SO.6 Disable:I2SO.7 Index:-1 R:0.075]
[MSG:INFO:     Neg Limit gpio.34:low]
[MSG:INFO:     Pos Limit gpio.35:low]
[MSG:INFO: Axis Z (-150.000,150.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     tmc_5160 Step:I2SO.10 Dir:I2SO.9:low CS:I2SO.11 Disable:I2SO.8 Index:-1 R:0.075]
[MSG:INFO:     Neg Limit gpio.36:low]
[MSG:INFO: X Axis driver test passed]
[MSG:INFO: Y Axis driver test passed]
[MSG:INFO: Z Axis driver test passed]
[MSG:INFO: Kinematic system: Cartesian]
[MSG:INFO: Relay Spindle Ena:NO_PIN Out:gpio.26 Dir:NO_PIN]
[MSG:INFO: Using spindle Relay]
[MSG:INFO: Probe Pin: gpio.2]
[MSG:INFO: Connecting to STA SSID:Kutz-WiFi]
[MSG:INFO: Connecting.]
[MSG:INFO: Connecting..]
[MSG:INFO: Connected - IP is 192.168.1.186]
[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]

用户界面软件

WebUI，Arduino 串口终端

发生了什么？

解锁机器（使用仪表板上的按钮或在任一程序中键入 $X）测试慢跑 X 轴（通过仪表板控件或平板电脑控件）我确保 x 轴以正常速度正确慢跑，然后我点击 Home x 按钮在 WebUI 仪表板屏幕/控件部分。机器将开始回原点，但移动速度非常慢且距离不正确。龙门架在中间，它会说它移动了 500 毫米并且没有找到开关，但它可能只移动了 50 毫米，如果我继续这个循环最终它会到达开关后退并执行正确的归位程序并正确设置 x。但是，当我现在尝试慢跑时，它会以与原先相同的降低速度慢跑。

其他信息

我在日志中看到的唯一异常是有时在启动时出现驱动程序错误。使用 $bye 重新启动它，并在几次重新启动后一切都会通过。

[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:6P_5160_XYZA_Relay.yaml ]
[MSG:INFO: Machine 6 Pack External XYZA Relay]
[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_stream Pulse:4us Dsbl Delay:0us Dir Delay: 1us 空闲延迟：250ms]
[MSG:INFO: 轴数 3]
[MSG:INFO: Axis X (0.000,500.000)]
[MSG:INFO: Motor0]
[MSG:INFO: tmc_5160 Step:I2SO.2 Dir:I2SO. 1：低 CS：I2SO.3 禁用：I2SO.0 指数：-1 R：0.075]
[MSG:INFO: Neg Limit gpio.33:low]
[MSG:INFO: Pos Limit gpio.32:low]
[MSG:INFO: Y 轴 (0.000,500.000)]
[MSG:INFO: Motor0]
[MSG:INFO : tmc_5160 Step:I2SO.5 Dir:I2SO.4 CS:I2SO.6 Disable:I2SO.7 Index:-1 R:0.075]
[MSG:INFO: Neg Limit gpio.34:low]
[MSG:INFO: Pos Limit gpio.35:low]
[MSG:INFO: Z 轴 (-150.000,150.000)]
[MSG:INFO: Motor0]
[MSG:INFO: tmc_5160 Step:I2SO.10 Dir:I2SO.9:low CS:I2SO.11 Disable:I2SO.8 Index:-1 R:0.075]
[MSG:INFO: Neg Limit gpio.36:low]
[MSG:INFO: X Axis driver test passed]
[MSG:ERR: Y Axis driver test failed. 检查电机功率]
[消息：信息：Z 轴驱动器测试通过]
[消息：信息：运动系统：笛卡尔]
[MSG:INFO: 继电器主轴 Ena:NO_PIN Out:gpio.26 Dir:NO_PIN]
[MSG:INFO: 使用主轴继电器]
[MSG:INFO: Probe Pin: gpio.2]
[MSG:INFO: Connecting to STA SSID: Kutz-WiFi]
[MSG:INFO: Connecting.]
[MSG:INFO: Connecting..]
[MSG:INFO: Connected – IP is 192.168.1.186]
[MSG:INFO: WiFi on]
[MSG:INFO: Start mDNS with hostname:http://fluidnc.local/%5D
[MSG:INFO: SSDP Started]
[MSG:INFO: HTTP started on port 80]
[MSG:INFO: Telnet started on port 23]

培养

步骤/毫米可能出了问题。您应该移动 100 毫米并测量距离。在归位之前和之后检查它。

这可能是由于多种因素造成的，包括驱动程序错误地微步进。也许他们正在重置。

注意：如果您可以使用$Motors/Init（或 $MI）命令重新初始化驱动程序。

您的主电源规格是多少（电压和最大电流）？TMC5160s 需要大量电力。驱动程序依赖于稳定的主电源。它们在内部产生逻辑电压，因此 ESP32 可能没问题，但驱动器会掉线。

赛梅库茨

当我回家时我会检查所有这些我现在在工作。

米奇布拉德利

尝试查看它是否改变行为的另一件事 – 改变步进：从 i2s_stream 到 i2s_static

米奇布拉德利

又想到了另一种可能性：我想知道是否已安装但未配置的 TMC5160 会干扰 SPI 总线，因为它的片选引脚处于不确定状态？您可以尝试将其删除或将其配置在 A 轴上。

米奇布拉德利

这事有进一步更新吗？我怀疑未配置的 TMC5160 可能是问题的原因。如果几天后我没有听到更多消息，我将把这个问题作为陈旧的问题关闭。

米奇布拉德利

也请尝试v3.5.0-pre5

bkingsl1

这有没有解决？我有一个类似的问题：

home seek @ 200 mm/min –> 非常慢，
常规点动 @ 200 mm/min –> 快；不出所料

米奇布拉德利

试用最新的测试版。它有很多归巢相关的改进

模FS

有类似的行为。我的问题的根本原因是配置文件中有错误。我在你的配置文件中看到你的 z 轴和 soft_limit，你输入了 false+-。也许这就是问题所在？

米奇布拉德利

关闭，因为作者已经几个月没有回复了。

symekutz 更改了标题 ~~问题：~~ 问题：轴归位速度和步骤错误，归位后轴不再正确点动 2022 年 6 月 21 日

MitchBradley在完成时关闭了它 2022 年 9 月 4 日

问题：轴归位速度和步骤错误，归位后轴不再正确点动#503

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