[FluidNC Issue#1432] Homing doesn’t work About GRBL HAL

Issue #1432 | 状态: 已关闭 | 作者: qulet | 创建时间: 2025-01-21

Wiki Search Terms

FluidNC Limit Switch and Homing Setup

Controller Board

ESP- WROM 32 4x TB6600 Stepper Motor Driver 4x limit swich optoisolator

Machine Description

Router bramowy

Input Circuits

LTV847 optoisolator to esp32 pin

Configuration file

name: "ESP32 V4" board: "ESP32" meta: "N_ver" stepping: engine: RMT idle_ms: 250 dirdelayus: 1 pulse_us: 2 disabledelayus: 0 axes: sharedstepperdisablepin: NOPIN homing_runs: 3 x: stepspermm: 1261.95 maxratemmpermin: 1088.8 accelerationmmper_sec2: 230 maxtravelmm: 1000 homing: cycle: 2 allowsingleaxis: true positive_direction: true mpos_mm: 10 seekmmper_min: 800 feedmmper_min: 500 seek_scaler: 1.5 feed_scaler: 1.5 motor0: limitnegpin: gpio.34:low hard_limits: true pulloff_mm: 10 stepstick: direction_pin: gpio.32 step_pin: gpio.33 y: stepspermm: 1261.95 maxratemmpermin: 1099.8 accelerationmmper_sec2: 230 maxtravelmm: 1000 homing: cycle: 1 allowsingleaxis: true positive_direction: true mpos_mm: -10 seekmmper_min: 800 feedmmper_min: 500 seek_scaler: 1.5 feed_scaler: 1.5 motor0: limitnegpin: gpio.39:low hard_limits: true pulloff_mm: 10 stepstick: direction_pin: gpio.27 step_pin: gpio.26 z: stepspermm: 1600 maxratemmpermin: 800 accelerationmmper_sec2: 192.1875 maxtravelmm: 200 homing: cycle: 0 allowsingleaxis: true positive_direction: true mpos_mm: -10 seekmmper_min: 400 feedmmper_min: 200 seek_scaler: 1.5 feed_scaler: 1.5 motor0: limitnegpin: gpio.36:low hard_limits: true pulloff_mm: 10 stepstick: direction_pin: gpio.25 step_pin: gpio.12 a: stepspermm: 1114.6 maxratemmpermin: 1345.2 accelerationmmper_sec2: 448.4787 maxtravelmm: 1000000 homing: cycle: 3 allowsingleaxis: true positive_direction: true mpos_mm: -10 seekmmper_min: 700 feedmmper_min: 300 seek_scaler: 1.5 feed_scaler: 1.5 motor0: limitnegpin: gpio.35:high hard_limits: true pulloff_mm: 10 stepstick: direction_pin: gpio.21 step_pin: gpio.22 spi: miso_pin: gpio.19 mosi_pin: gpio.23 sck_pin: gpio.18 sdcard: cs_pin: gpio.5 carddetectpin: NO_PIN frequency_hz: 8000000 coolant: flood_pin: gpio.14:low:pu probe: pin: gpio.15:low:pu user_outputs: digital0pin: NOPIN

10V: forward_pin: gpio.2:low:pu reversepin: NOPIN pwm_hz: 5000 output_pin: gpio.13 enablepin: NOPIN directionpin: NOPIN disablewiths0: false s0withdisable: true spinup_ms: 0 spindown_ms: 0 tool_num: 0 speed_map: 0=0.000% 1000=0.000% 12000=50% 24000=100.000% offonalarm: falseue000=25% 24000=100%

Startup Messages

$G
[GC:G0 G54 G17 G21 G90 G94 M5 M9 T0 F0 S0]
ok
[MSG:DBG: /macrocfg.json not found]
[MSG:DBG: 404.htm not found]
[MSG:DBG: /preferences2.json not found]
[MSG:DBG: 404.htm not found]
$SS

[MSG:DBG: /preferences.json not found]
[MSG:DBG: 404.htm not found]
[MSG:INFO: FluidNC v3.8.3 https://github.com/bdring/FluidNC]
[MSG:INFO: Compiled with ESP32 SDK:v4.4.7-dirty]
[MSG:INFO: Local filesystem type is littlefs]
[MSG:INFO: Configuration file:4axisv410V.yaml]
[MSG:DBG: Running after-parse tasks]
[MSG:DBG: Checking configuration]
[MSG:INFO: Machine ESP32 V4]
[MSG:INFO: Board ESP32]
[MSG:INFO: SPI SCK:gpio.18 MOSI:gpio.23 MISO:gpio.19]
[MSG:INFO: SD Card cspin:gpio.5 detect:NOPIN freq:8000000]
[MSG:INFO: Stepping:RMT Pulse:2us Dsbl Delay:0us Dir Delay:1us Idle Delay:250ms]
[MSG:INFO: Axis count 4]
[MSG:INFO: Axis X (-990.000,10.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     stepstick Step:gpio.33 Dir:gpio.32 Disable:NO_PIN]
[MSG:INFO:  X Neg Limit gpio.34:low]
[MSG:INFO: Axis Y (-1010.000,-10.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     stepstick Step:gpio.26 Dir:gpio.27 Disable:NO_PIN]
[MSG:INFO:  Y Neg Limit gpio.39:low]
[MSG:INFO: Axis Z (-210.000,-10.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     stepstick Step:gpio.12 Dir:gpio.25 Disable:NO_PIN]
[MSG:INFO:  Z Neg Limit gpio.36:low]
[MSG:INFO: Axis A (-1000010.000,-10.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     stepstick Step:gpio.22 Dir:gpio.21 Disable:NO_PIN]
[MSG:INFO:  A Neg Limit gpio.35]
[MSG:INFO: Kinematic system: Cartesian]
[MSG:INFO: Connecting to STA SSID:OrangeSwiatlowodD290]
[MSG:INFO: Connecting.]
[MSG:INFO: Connecting..]
[MSG:INFO: Connecting...]
[MSG:INFO: Connecting....]
[MSG:INFO: Connected - IP is 192.168.1.22]
[MSG:INFO: WiFi on]
[MSG:INFO: Start mDNS with hostname:http://fluidnc.local/]
[MSG:INFO: HTTP started on port 80]
[MSG:INFO: Telnet started on port 23]
[MSG:INFO: 10V Spindle Ena:NOPIN Out:gpio.13 Dir:NOPIN Fwd:gpio.2:low:pu Rev:NO_PIN Freq:5000Hz Period:8191]
[MSG:INFO: Flood coolant gpio.14:low:pu]
[MSG:INFO: Probe gpio.15:low:pu]
ok

$HX
[MSG:DBG: Homing Cycle X]
[MSG:DBG: Starting from 0.000,0.000,0.000]
[MSG:DBG: Planned move to 10.000,0.000,0.000 @ 500.000]
[MSG:DBG: CycleStop PrePulloff]
[MSG:INFO: ALARM: Homing Fail Pulloff]
ALARM:8
Homing fail. Pull off travel failed to clear limit switch. Try increasing pull-off setting or check wiring.
ok

[MSG:DBG:  X Neg Limit 0]
[MSG:DBG:  X Neg Limit 1]
[MSG:DBG: Limit switch tripped for X motor 0]
[MSG:DBG:  X Neg Limit 0]
[MSG:DBG:  X Neg Limit 1]
[MSG:DBG: Limit switch tripped for X motor 0]
[MSG:DBG:  Z Neg Limit 0]
[MSG:DBG:  Z Neg Limit 1]
[MSG:DBG: Limit switch tripped for Z motor 0]
[MSG:DBG:  Y Neg Limit 0]
[MSG:DBG:  Y Neg Limit 1]
[MSG:DBG: Limit switch tripped for Y motor 0]
[MSG:DBG:  Y Neg Limit 0]
[MSG:DBG:  Y Neg Limit 1]
[MSG:DBG: Limit switch tripped for Y motor 0]
[MSG:DBG:  Y Neg Limit 0]
[MSG:DBG:  Y Neg Limit 1]
[MSG:DBG: Limit switch tripped for Y motor 0]
[MSG:DBG:  Y Neg Limit 0]
[MSG:DBG:  Y Neg Limit 1]
[MSG:DBG: Limit switch tripped for Y motor 0]
[MSG:DBG:  Y Neg Limit 0]
[MSG:DBG:  Y Neg Limit 1]
[MSG:DBG: Limit switch tripped for Y motor 0]

User Interface Software

No response

What happened?

t has limit switches at the ends of the +X,+Y,+Z axes. I have set homig for each axis separately.
After starting $HX, $HY, $HZ, the axes move in the + direction towards the switch for a distance of pulloff_mm=10.
Increasing this value causes the desired movement, but when the switch is activated, the axis movement does not stop and a collision occurs….
All other functions work ok.
Jog moves the axes in the right direction.
What can I do to make homing work?

GCode File

No response

Other Information

No response

#1 – bdring 于 2025-01-21

It looks like your switches are inverted and reading backwards.

See this wiki page.

http://wiki.fluidnc.com/en/support/setup/limit_switches

Also send a photo of your controller.

#2 – qulet 于 2025-01-25

Fluid is my alternative CNC milling machine control. My original control is the Mach 3 program via the LPT port. There, the end switches at the ends of the axes work flawlessly. There is an error in the configuration file in the Fluid control and I cannot solve it….

!Image
!Image

#3 – bdring 于 2025-01-25

It appears that the switches are reporting as contacted before you try to home. Try inverting the logic. Change the ‘:low’ to ‘:high’ on all your switches in the config file.

#4 – bdring 于 2025-01-25

http://wiki.fluidnc.com/en/support/setup/limit_switches#test-switches

Look at the status $HX pn:XYZ means XYZ switches are active. before homing.

#5 – qulet 于 2025-01-27

Alarms are the result of manual triggering of limit switches. This is to show that they work properly in Jog mode, but there is a problem in homing mode…

Changing the low logic to high causes a message at the start about their activation….

#6 – bdring 于 2025-01-27

2 things. Please respond completely to both.

1. Show us the results of this test.

http://wiki.fluidnc.com/en/support/setup/limit_switches#test-switches

2. Are you using pull up or pull down resistors?

#7 – MitchBradley 于 2025-01-27

That setup, with an ESP32 apparently connected directly to switches without intermediate signal conditioning, will be susceptible to noise. Spend a few bucks to get a proper controller board with noise filtering on the inputs.

#8 – qulet 于 2025-01-27

Please provide a link to such boards.

I have separations on optocouplers on the end switches.

!Image

#9 – qulet 于 2025-01-28

TEST SWITCHES
G
[GC:G0 G54 G17 G21 G90 G94 M5 M9 T0 F0 S0]
ok
[MSG:DBG: /macrocfg.json not found]
[MSG:DBG: 404.htm not found]
[MSG:DBG: /preferences2.json not found]
[MSG:DBG: 404.htm not found]
$SS

[MSG:DBG: /preferences.json not found]
[MSG:DBG: 404.htm not found]
[MSG:INFO: FluidNC v3.8.3 https://github.com/bdring/FluidNC%5D
[MSG:INFO: Compiled with ESP32 SDK:v4.4.7-dirty]
[MSG:INFO: Local filesystem type is littlefs]
[MSG:INFO: Configuration file:4axisv410V.yaml]
[MSG:DBG: Running after-parse tasks]
[MSG:DBG: Checking configuration]
[MSG:INFO: Machine ESP32 V4]
[MSG:INFO: Board ESP32]
[MSG:INFO: SPI SCK:gpio.18 MOSI:gpio.23 MISO:gpio.19]
[MSG:INFO: SD Card cspin:gpio.5 detect:NOPIN freq:8000000]
[MSG:INFO: Stepping:RMT Pulse:2us Dsbl Delay:0us Dir Delay:1us Idle Delay:250ms]
[MSG:INFO: Axis count 4]
[MSG:INFO: Axis X (-990.000,10.000)]
[MSG:INFO: Motor0]
[MSG:INFO: stepstick Step:gpio.33 Dir:gpio.32 Disable:NO_PIN]
[MSG:INFO: X Neg Limit gpio.34:low]
[MSG:INFO: Axis Y (-1010.000,-10.000)]
[MSG:INFO: Motor0]
[MSG:INFO: stepstick Step:gpio.26 Dir:gpio.27 Disable:NO_PIN]
[MSG:INFO: Y Neg Limit gpio.39:low]
[MSG:INFO: Axis Z (-210.000,-10.000)]
[MSG:INFO: Motor0]
[MSG:INFO: stepstick Step:gpio.12 Dir:gpio.25 Disable:NO_PIN]
[MSG:INFO: Z Neg Limit gpio.36:low]
[MSG:INFO: Axis A (-1000010.000,-10.000)]
[MSG:INFO: Motor0]
[MSG:INFO: stepstick Step:gpio.22 Dir:gpio.21 Disable:NO_PIN]
[MSG:INFO: A Neg Limit gpio.35]
[MSG:INFO: Kinematic system: Cartesian]
[MSG:INFO: Connecting to STA SSID:OrangeSwiatlowodD290]
[MSG:INFO: Connecting.]
[MSG:INFO: Connecting..]
[MSG:INFO: Connected – IP is 192.168.1.22]
[MSG:INFO: WiFi on]
[MSG:INFO: Start mDNS with hostname:http://fluidnc.local/%5D
[MSG:INFO: HTTP started on port 80]
[MSG:INFO: Telnet started on port 23]
[MSG:INFO: 10V Spindle Ena:NOPIN Out:gpio.13 Dir:NOPIN Fwd:gpio.2:low:pu Rev:NO_PIN Freq:5000Hz Period:8191]
[MSG:INFO: Flood coolant gpio.14:low:pu]
[MSG:INFO: Probe gpio.15:low:pu]
ok

$X
ok
$X
ok
$Message/Level=Debug
ERROR:8
Grbl ‘$’ command cannot be used unless Grbl is IDLE. Ensures smooth operation during a job.
[MSG:ERR: Command requires idle state]
$X
ok
$Message/Level=Debug
ERROR:8
Grbl ‘$’ command cannot be used unless Grbl is IDLE. Ensures smooth operation during a job.
[MSG:ERR: Command requires idle state]
$X
ok
$HY
[MSG:DBG: Homing Cycle Y]
[MSG:DBG: Starting from 0.000,0.000,0.000]
[MSG:DBG: Planned move to 0.000,10.000,0.000 @ 500.000]
[MSG:DBG: CycleStop PrePulloff]
[MSG:INFO: ALARM: Homing Fail Pulloff]
ALARM:8
Homing fail. Pull off travel failed to clear limit switch. Try increasing pull-off setting or check wiring.
ok

$Message/Level=Debug
ok
[MSG:DBG: X Neg Limit 0]
[MSG:DBG: X Neg Limit 1]
[MSG:DBG: Limit switch tripped for X motor 0]
[MSG:DBG: Y Neg Limit 0]
[MSG:DBG: Y Neg Limit 1]
[MSG:DBG: Limit switch tripped for Y motor 0]
[MSG:DBG: Z Neg Limit 0]
[MSG:DBG: Z Neg Limit 1]
[MSG:DBG: Limit switch tripped for Z motor 0]
Send Command…

Autoscroll

#10 – qulet 于 2025-01-28

I forgot to trigger the A axis limits

[MSG:DBG: X Neg Limit 0]
[MSG:DBG: X Neg Limit 1]
[MSG:DBG: Limit switch tripped for X motor 0]
[MSG:DBG: Y Neg Limit 0]
[MSG:DBG: Y Neg Limit 1]
[MSG:DBG: Limit switch tripped for Y motor 0]
[MSG:DBG: Z Neg Limit 0]
[MSG:DBG: Z Neg Limit 1]
[MSG:DBG: Limit switch tripped for Z motor 0]
[MSG:DBG: A Neg Limit 1]
[MSG:DBG: Limit switch tripped for A motor 0]
[MSG:DBG: A Neg Limit 0][MSG:DBG: X Neg Limit 0]
[MSG:DBG: X Neg Limit 1]
[MSG:DBG: Limit switch tripped for X motor 0]
[MSG:DBG: Y Neg Limit 0]
[MSG:DBG: Y Neg Limit 1]
[MSG:DBG: Limit switch tripped for Y motor 0]
[MSG:DBG: Z Neg Limit 0]
[MSG:DBG: Z Neg Limit 1]
[MSG:DBG: Limit switch tripped for Z motor 0]
[MSG:DBG: A Neg Limit 1]
[MSG:DBG: Limit switch tripped for A motor 0]
[MSG:DBG: A Neg Limit 0]