[FluidNC Issue#1501] Problem: Safety Door Parking activated before homing About GRBL HAL

Issue #1501 | 状态: 已关闭 | 作者: ramack | 创建时间: 2025-05-15

Wiki Search Terms

door homing

Controller Board

6x CNC Controller

Machine Description

4 axis CNC using stepperonline NEMA 23 closed loop motors with CL57T-V41 drivers, with 1.5kW china spindle on a Siemens V20 VFD

Input Circuits

homing limit switches on all axis normally open safety door pin on a "stop switch", normally open resume button on cyclestartpin, normally open

homing working fine, safety door action working in normal operation as expected.

Configuration file

board: 6 Pack CNC by Bart Dring name: JaRa CNC meta: 2025-05-15 RMk RS485 + FLuidDial macros: after_homing: G53G00X520Y-165Z130 control: STOP Taste safetydoorpin: gpio.35:low Start Taste: cyclestartpin: gpio.34:low #Home Taste: homingbuttonpin: gpio.39:low FU + Motortreiber WARN fault_pin: gpio.2:low:pu resetpin: NOPIN fault_pin: gpio.36 feedholdpin: gpio.2:low:pu status_outputs: LED Start hold_pin: I2SO.23 LED Home: run_pin: I2SO.21 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: carddetectpin: NO_PIN cs_pin: gpio.5 start: must_home: true parking: enable: true axis: Z pulloutdistancemm: 20.000 pulloutratemmpermin: 250.000 targetmposmm: 120.000 ratemmper_min: 800.000 UART for FluidDial uart2: txd_pin: gpio.27 rxd_pin: gpio.25 rtspin: NOPIN ctspin: NOPIN baud: 1000000 mode: 8N1 uart_channel1: reportintervalms: 200 uart_num: 2 message_level: debug #UART for RS485 #uart1: txd_pin: gpio.15 rxd_pin: gpio.16 rts_pin: gpio.14 ctspin: NOPIN baud: 9600 mode: 8E1 #use correct UART! #ModbusVFD: see https://support.industry.siemens.com/cs/mdm/109824500?c=160470548491&dl=nl&lc=en-US debug: 3 uart_num: 1 modbus_id: 1 model: SiemensV20 ccw_cmd: 06 00 63 0c 7f > echo cw_cmd: 06 00 63 04 7f > echo # maybe ccw and cw are flipped off_cmd: 06 00 63 0c 7e > echo setrpmcmd: 06 00 64 rpm > echo getrpmcmd: 03 00 6e 00 01 > 03 02 rpm getmaxrpm_cmd: 03 00 0F 00 01 > 03 02 maxrpm*6/10 # this uses the base RPM and works getmaxrpm_cmd: 03 10 82 00 01 > 03 02 rpm*60/100 getminrpm_cmd: 03 10 80 00 01 > 03 02 rpm*60/100 getmaxrpm_cmd: 03 01 69 00 01 > 03 02 maxrpm*6/10 getminrpm_cmd: 03 01 68 00 01 > 03 02 minrpm*6/10 speed_map: 0=0% 1=12.5% 3000=37.5% 9000=37.5% 24000=100% offonalarm: true SiemensV20: debug: 3 uart: txd_pin: gpio.15 rxd_pin: gpio.16 rts_pin: gpio.14 baud: 9600 mode: 8E1 modbus_id: 1 tool_num: 0 spinup_ms: 5000 spindown_ms: 10000 speed_map: 0=0% 1=12.5% 3000=37.5% 9000=37.5% 24000=100% offonalarm: true poll_ms: 2000 # to be changed later, we use 2s right now only to reduce the debug output disablewiths0: true s0withdisable: true #10V: forwardpin: NOPIN reversepin: NOPIN pwm_hz: 15000 output_pin: gpio.13 enable_pin: gpio.15 direction_pin: gpio.14:low disablewiths0: false s0withdisable: true spinup_ms: 1500 spindown_ms: 1500 tool_num: 0 speed_map: 0=0.000% 1000=0.000% 24000=100.000% speed_map: 0=0% 1=12.5% 3000=37.5% 9000=37.5% 24000=100% offonalarm: true stepping: engine: I2S_STREAM #we never disable the output pins automatically, so set to 255 idle_ms: 255 the CL57T can handle stepping frequencies up to 200 kHz, so in theory 2.5us pulses should be possible. other sources claim 500kHz, so we could go with 1us pulses 5 limits to 100kHz pulse_us: 6 dirdelayus: 6 disabledelayus: 0 segments: 6 axes: sharedstepperdisablepin: NOPIN homing_runs: 2 x: stepspermm: 1000.0 maxratemmpermin: 2200.000 accelerationmmper_sec2: 50.000 maxtravelmm: 555.000 soft_limits: true homing: cycle: 2 positive_direction: false mpos_mm: 0.000 feedmmper_min: 50.000 seekmmper_min: 500.000 settle_ms: 250 seek_scaler: 1.100 feed_scaler: 1.100 motor0: limitnegpin: gpio.33:low:pu limitpospin: NO_PIN limitallpin: NO_PIN hard_limits: false pulloff_mm: 1.500 standard_stepper: step_pin: I2SO.2 direction_pin: I2SO.1 disable_pin: I2SO.0 y: stepspermm: 1000.000 maxratemmpermin: 2000.000 accelerationmmper_sec2: 50.000 maxtravelmm: 410.000 soft_limits: true homing: cycle: 2 positive_direction: true mpos_mm: 0.000 feedmmper_min: 50.000 seekmmper_min: 500.000 settle_ms: 250 seek_scaler: 1.100 feed_scaler: 1.100 motor0: limitnegpin: gpio.26:low:pu limitpospin: NO_PIN limitallpin: NO_PIN hard_limits: false pulloff_mm: 1.500 standard_stepper: step_pin: I2SO.5 direction_pin: I2SO.4 disable_pin: I2SO.7 z: stepspermm: 1000.000 maxratemmpermin: 2000.000 accelerationmmper_sec2: 25.000 maxtravelmm: 380.000 soft_limits: true homing: cycle: 1 positive_direction: true mpos_mm: 140.000 feedmmper_min: 50.000 seekmmper_min: 400.000 settle_ms: 250 seek_scaler: 1.100 feed_scaler: 1.100

motor0: limitnegpin: NO_PIN limitpospin: gpio.32:low:pu limitallpin: NO_PIN hard_limits: false pulloff_mm: 1.500 standard_stepper: step_pin: I2SO.10 direction_pin: I2SO.9 disable_pin: I2SO.8 a: stepspermm: 142.22222222222222 maxratemmpermin: 2000.000 accelerationmmper_sec2: 100.000 maxtravelmm: 960.000 soft_limits: false homing: cycle: -1 motor0: limitnegpin: NO_PIN limitpospin: NO_PIN limitallpin: NO_PIN hard_limits: false pulloff_mm: 1.500 standard_stepper: step_pin: I2SO.13 direction_pin: I2SO.12 disable_pin: I2SO.15

Startup Messages

$G
[GC:G0 G54 G17 G21 G90 G94 M5 M9 T0 F0 S0]
ok
$SS

[MSG:INFO: FluidNC v3.9.6 (Test_1489-9f00d07f-dirty) git@github.com:ramack/FluidNC.git]
[MSG:INFO: Compiled with ESP32 SDK:v4.4.7-dirty]
[MSG:INFO: Local filesystem type is littlefs]
[MSG:INFO: Configuration file:JaRa_CNC.yaml]
[MSG:DBG: Running after-parse tasks]
[MSG:DBG: Checking configuration]
[MSG:INFO: Machine JaRa CNC]
[MSG:INFO: Board 6 Pack CNC by Bart Dring]
[MSG:INFO: UART2 Tx:gpio.27 Rx:gpio.25 RTS:NO_PIN Baud:1000000]
[MSG:INFO: uart_channel2 created at report interval: 200]
[MSG:INFO: I2SO BCK:gpio.22 WS:gpio.17 DATA:gpio.21Min Pulse:2us]
[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:I2S_STREAM Pulse:6us Dsbl Delay:0us Dir Delay:6us Idle Delay:255ms]
[MSG:INFO: Axis count 4]
[MSG:INFO: Axis X (0.000,555.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     standard_stepper Step:I2SO.2 Dir:I2SO.1 Disable:I2SO.0]
[MSG:INFO:  Neg Limit gpio.33:low:pu]
[MSG:INFO: Axis Y (-410.000,0.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     standard_stepper Step:I2SO.5 Dir:I2SO.4 Disable:I2SO.7]
[MSG:INFO:  Neg Limit gpio.26:low:pu]
[MSG:INFO: Axis Z (-240.000,140.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     standard_stepper Step:I2SO.10 Dir:I2SO.9 Disable:I2SO.8]
[MSG:INFO:  Pos Limit gpio.32:low:pu]
[MSG:INFO: Axis A (-960.000,0.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     standard_stepper Step:I2SO.13 Dir:I2SO.12 Disable:I2SO.15]
[MSG:INFO: safetydoorpin gpio.35:low]
[MSG:INFO: cyclestartpin gpio.34:low]
[MSG:INFO: fault_pin gpio.2:low:pu]
[MSG:INFO: homingbuttonpin gpio.39:low]
[MSG:INFO: Kinematic system: Cartesian]
[MSG:INFO: Connecting to STA SSID:PalimPalim]
[MSG:INFO: Connecting.]
[MSG:INFO: Connecting..]
[MSG:INFO: Connected - IP is 192.168.0.77]
[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: Status outputs Interval:500 Idle:NOPIN Cycle:I2SO.21 Hold:I2SO.23 Alarm:NOPINDoor:NO_PIN]
[MSG:INFO: UART1 Tx:gpio.15 Rx:gpio.16 RTS:gpio.14 Baud:9600]
[MSG:INFO: SiemensV20 Spindle Tx:gpio.15 Rx:gpio.16 RTS:gpio.14 Baud:9600]
[MSG:INFO: RS485 Tx:  01 03 00 6E 00 01 E5 D7]
[MSG:DBG: SiemensV20: setState:5 SpindleSpeed:0]
[MSG:DBG: Synced speed. Requested:0 current:0]
ok

User Interface Software

WebUI, FluidDial pendant

What happened?

When activating the button on the safety door pin (opening the DOOR) before the machine is homed FluidNC tries to move to parking position and during the pullout (or later) it crashed our z-axis and even ignored the limit switch.

Before homing the machine should not move due to door opening, and definitely consider the limit switch to stop there.

GCode File

No response

Other Information

maybe also for macros should be checked if the limit switches are considered

#1 – bdring 于 2025-05-17

You will have to show an exact log of what you do to cause the problem.

I did some testing. This is what happens if I activate the door before homing. It stays in alarm mode. The door pin is reporting as active. No motion occurs.

Grbl 3.9 [FluidNC v3.9.7 (wifi) '$' for help]
[MSG:INFO: ALARM: Unhomed]
ALARM:14
[MSG:INFO: Check door]

Here is the door active on startup. No motion occurs.

Grbl 3.9 [FluidNC v3.9.7 (wifi) '$' for help]
[MSG:ERR: safetydoorpin is active at startup]
[MSG:INFO: ALARM: Unhomed]
ALARM:14
[MSG:INFO: ALARM: Control Pin Initially On]
ALARM:11

If I clear the homing alarm with $X. The door/parking feature can be activated, but since the Z machine position is is likely wrong, problems could occur. This is true for most of the features in FluidNC.

If I enable hard limits on Z the parking will trigger an alarm if it hits a switch.

$axes/z/motor0/hard_limits=true
ok
[MSG:INFO: Check door]
[MSG:INFO: ALARM: Hard Limit]
ALARM:1
[MSG:ERR: Reset to continue]

#2 – ramack 于 2025-05-21

For reproducing we tried three cases:
A) power on, fluidnc in unhomes Alarm, open door
B) power on, fluidnc in unhomes Alarm, clear alarm in WebUI, Idle state, open door
C) change config to have hard_limits: true power on, fluidnc in unhomes Alarm, clear alarm in WebUI, Idle state, open door, manually activate the limit switch

with A all is fine, no movement
with B the “unexpected” overrun of the limit switch occurs
with C also all fine, movement starts and stops at hard_limit

So basically it was a configuration issue on our side with the wrong expectation that a configured limit switch would also be a safety limit. Would be cool if you could document this a bit more explicitly – searching in the wiki for “hard_limits” did not even bring up a helpful result.

For the sake of completeness here is the log for B is:
“[MSG:INFO: FluidNC v3.9.6 (Test_1489-9f00d07f-dirty) git@github.com:ramack/FluidNC.git] [MSG:INFO: Compiled with ESP32 SDK:v4.4.7-dirty] [MSG:INFO: Local filesystem type is littlefs] [MSG:INFO: Configuration file:JaRa_CNC.yaml] [MSG:DBG: Running after-parse tasks] [MSG:DBG: Checking configuration] [MSG:INFO: Machine JaRa CNC] [MSG:INFO: Board 6 Pack CNC by Bart Dring] [MSG:INFO: UART2 Tx:gpio.27 Rx:gpio.25 RTS:NO_PIN Baud:1000000] [MSG:INFO: uart_channel2 created at report interval: 200] [MSG:INFO: I2SO BCK:gpio.22 WS:gpio.17 DATA:gpio.21Min Pulse:2us] [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:I2S_STREAM Pulse:6us Dsbl Delay:0us Dir Delay:6us Idle Delay:255ms] [MSG:INFO: Axis count 4] [MSG:INFO: Axis X (0.000,555.000)] [MSG:INFO: Motor0] [MSG:INFO: standard_stepper Step:I2SO.2 Dir:I2SO.1 Disable:I2SO.0] [MSG:INFO: Neg Limit gpio.33:low:pu] [MSG:INFO: Axis Y (-410.000,0.000)] [MSG:INFO: Motor0] [MSG:INFO: standard_stepper Step:I2SO.5 Dir:I2SO.4 Disable:I2SO.7] [MSG:INFO: Neg Limit gpio.26:low:pu] [MSG:INFO: Axis Z (-240.000,140.000)] [MSG:INFO: Motor0] [MSG:INFO: standard_stepper Step:I2SO.10 Dir:I2SO.9 Disable:I2SO.8] [MSG:INFO: Pos Limit gpio.32:low:pu] [MSG:INFO: Axis A (-960.000,0.000)] [MSG:INFO: Motor0] [MSG:INFO: standard_stepper Step:I2SO.13 Dir:I2SO.12 Disable:I2SO.15] [MSG:INFO: safetydoorpin gpio.35:low] [MSG:INFO: cyclestartpin gpio.34:low] [MSG:INFO: fault_pin gpio.2:low:pu] [MSG:INFO: homingbuttonpin gpio.39:low] [MSG:INFO: Kinematic system: Cartesian] [MSG:INFO: Connecting to STA SSID:PalimPalim] [MSG:INFO: Connecting.] [MSG:INFO: Connecting..] [MSG:INFO: Connected - IP is 192.168.0.77] [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: Status outputs Interval:500 Idle:NOPIN Cycle:I2SO.21 Hold:I2SO.23 Alarm:NOPINDoor:NO_PIN] [MSG:INFO: UART1 Tx:gpio.15 Rx:gpio.16 RTS:gpio.14 Baud:9600] [MSG:INFO: SiemensV20 Spindle Tx:gpio.15 Rx:gpio.16 RTS:gpio.14 Baud:9600] [MSG:INFO: RS485 Tx: 01 03 00 6E 00 01 E5 D7] [MSG:DBG: SiemensV20: setState:5 SpindleSpeed:0] [MSG:DBG: Synced speed. Requested:0 current:0] ok $X [MSG:INFO: Caution: Unlocked] ok [MSG:DBG: safetydoorpin 1] [MSG:INFO: Check door] [MSG:DBG: Parking pullout] [MSG:DBG: Pos Limit 1] [MSG:DBG: Limit switch tripped for Z motor 0] [MSG:DBG: Pos Limit 0] [MSG:DBG: Pos Limit 1] [MSG:DBG: Limit switch tripped for Z motor 0] [MSG:DBG: Pos Limit 0] [MSG:DBG: Pos Limit 1]“

#3 – MitchBradley 于 2025-05-21

Feel free to edit the wiki to say whatever you think needs to be said. https://www.goodreads.com/quotes/190777-to-do-good-is-noble-to-tell-others-to-do

#4 – ramack 于 2025-05-21

I surely would be willing, but as wiki contributions require a discord account I am out. That’s why I have chosen to be even nobler and proposed to you that you could improve the documentation – without complaining about the link (https://github.com/bdring/FluidNC/wiki/Hardware-that-Runs-FluidNC) in the issue template that points to the outdated wiki 😉.

Don’t get me wrong, I really appreciate the efforts you put into fluidnc and I’m giving my best to help where I can, but right now I don’t feel motivated to contribute. “It doesn’t work! Help-Me!”-users are a pain, but you should also try to avoid treating everyone as troll.

#5 – bdring 于 2025-05-21

I added some info to the parking page.

原始Issue: https://github.com/bdring/FluidNC/issues/1501

Wiki Search Terms

Controller Board

Machine Description

Input Circuits

Configuration file

after_homing: G53G00X520Y-165Z130

STOP Taste

Start Taste:

FU + Motortreiber WARN

fault_pin: gpio.36

feedholdpin: gpio.2:low:pu

LED Start

LED Home:

UART for FluidDial

txd_pin: gpio.15

rxd_pin: gpio.16

rts_pin: gpio.14

ctspin: NOPIN

baud: 9600

mode: 8E1

see https://support.industry.siemens.com/cs/mdm/109824500?c=160470548491&dl=nl&lc=en-US

debug: 3

uart_num: 1

modbus_id: 1

model: SiemensV20

ccw_cmd: 06 00 63 0c 7f > echo

cw_cmd: 06 00 63 04 7f > echo # maybe ccw and cw are flipped

off_cmd: 06 00 63 0c 7e > echo

setrpmcmd: 06 00 64 rpm > echo

getrpmcmd: 03 00 6e 00 01 > 03 02 rpm

getmaxrpm_cmd: 03 00 0F 00 01 > 03 02 maxrpm*6/10 # this uses the base RPM and works

getmaxrpm_cmd: 03 10 82 00 01 > 03 02 rpm*60/100

getminrpm_cmd: 03 10 80 00 01 > 03 02 rpm*60/100

getmaxrpm_cmd: 03 01 69 00 01 > 03 02 maxrpm*6/10

getminrpm_cmd: 03 01 68 00 01 > 03 02 minrpm*6/10

speed_map: 0=0% 1=12.5% 3000=37.5% 9000=37.5% 24000=100%

offonalarm: true

poll_ms: 2000 # to be changed later, we use 2s right now only to reduce the debug output

disablewiths0: true

s0withdisable: true

forwardpin: NOPIN

reversepin: NOPIN

pwm_hz: 15000

output_pin: gpio.13

enable_pin: gpio.15

direction_pin: gpio.14:low

disablewiths0: false

s0withdisable: true

spinup_ms: 1500

spindown_ms: 1500

tool_num: 0

speed_map: 0=0.000% 1000=0.000% 24000=100.000%

speed_map: 0=0% 1=12.5% 3000=37.5% 9000=37.5% 24000=100%

offonalarm: true

the CL57T can handle stepping frequencies up to 200 kHz, so in theory 2.5us pulses should be possible.

other sources claim 500kHz, so we could go with 1us pulses

5 limits to 100kHz

Startup Messages

User Interface Software

What happened?

GCode File

Other Information

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