> 未分类 > [FluidNC Issue#1577] Problem: Non constant G1 motion

[FluidNC Issue#1577] Problem: Non constant G1 motion

未分类 bolang 4个月前 (10-14) 46次浏览

Issue #1577 | 状态: 已关闭 | 作者: DLR3D | 创建时间: 2025-09-27

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Non uniform G1 motions

Controller Board

Rodent

Machine Description

6040Z CNC with ballscrews on all axis, nema 23 motors. No endstops, using G10 L20 P1 to set the position before motion.

Input Circuits

Configuration file

board: BTT Rodent-Z V1.0
name: 6040Z
meta: DR 6040z 1205 ballscrew
kinematics:
  Cartesian:
stepping:
  engine: I2S_STREAM
  idle_ms: 255
  pulse_us: 4
  dirdelayus: 1
  disabledelayus: 0
axes:
  sharedstepperdisablepin: NOPIN
  x:
    stepspermm: 640.000
    maxratemmpermin: 1500.000
    accelerationmmper_sec2: 100.000
    maxtravelmm: 480.000
    soft_limits: false
    homing:
      cycle: 1
      positive_direction: false
      mpos_mm: 0
      feedmmper_min: 400.000
      seekmmper_min: 800.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.500
    motor0:
      limitnegpin: NO_PIN
      limitpospin: NO_PIN
      limitallpin: NO_PIN
      hard_limits: false
      pulloff_mm: 3.000
      tmc_5160:
        step_pin: I2SO.2
        direction_pin: I2SO.1
        disable_pin: I2SO.0
        cs_pin: gpio.5
        spi_index: 1
        rsenseohms: 0.075
        run_amps: 2.0
        hold_amps: 1.5
        microsteps: 16
        toff_disable: 0
        toff_stealthchop: 5
        use_enable: false
        run_mode: CoolStep
        homing_mode: CoolStep
        stallguard: 16
        stallguard_debug: false
        toff_coolstep: 3
        tpfd: 4
  y:
    stepspermm: 640.000
    maxratemmpermin: 1500.000
    accelerationmmper_sec2: 100.000
    maxtravelmm: 650
    soft_limits: false
    homing:
      cycle: 1
      positive_direction: false
      mpos_mm: 0.000
      feedmmper_min: 400.000
      seekmmper_min: 800.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.500
    motor0:
      limitnegpin: NO_PIN
      limitpospin: NO_PIN
      limitallpin: NO_PIN
      hard_limits: false
      pulloff_mm: 3.000
      tmc_5160:
        step_pin: I2SO.5
        direction_pin: I2SO.4:low
        disable_pin: I2SO.7
        cspin: NOPIN
        spi_index: 2
        rsenseohms: 0.075
        run_amps: 2.0
        hold_amps: 1.5
        microsteps: 16
        toff_disable: 0
        toff_stealthchop: 5
        use_enable: false
        run_mode: CoolStep
        homing_mode: CoolStep
        stallguard: 16
        stallguard_debug: false
        toff_coolstep: 3
        tpfd: 4
  z:
    stepspermm: 640.000
    maxratemmpermin: 1500.000
    accelerationmmper_sec2: 100.000
    maxtravelmm: 150.000
    soft_limits: false
    homing:
      cycle: 1
      positive_direction: true
      mpos_mm: 0
      feedmmper_min: 400.000
      seekmmper_min: 800.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.500
    motor0:
      limitnegpin: NO_PIN
      limitpospin: NO_PIN
      limitallpin: NO_PIN
      hard_limits: false
      pulloff_mm: 3.000
      tmc_5160:
        step_pin: I2SO.10
        direction_pin: I2SO.9:low
        disable_pin: I2SO.8
        cspin: NOPIN
        spi_index: 3
        rsenseohms: 0.075
        run_amps: 2.0
        hold_amps: 1.5
        microsteps: 16
        toff_disable: 0
        toff_stealthchop: 5
        use_enable: false
        run_mode: CoolStep
        homing_mode: CoolStep
        stallguard: 16
        stallguard_debug: false
        toff_coolstep: 3
        tpfd: 4
  a:  #Not Used but needs to be defined so all stepper work
    # E0
    stepspermm: 157.750
    maxratemmpermin: 18000.000
    accelerationmmper_sec2: 1500.000
    maxtravelmm: 325.000
    soft_limits: false
    homing:
      cycle: -1
      positive_direction: true
      mpos_mm: 150.000
      feedmmper_min: 100.000
      seekmmper_min: 800.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100
    motor0:
      limitnegpin: NO_PIN
      limitpospin: NO_PIN
      limitallpin: NO_PIN
      hard_limits: false
      pulloff_mm: 1.000
      tmc_5160:
        step_pin: I2SO.13
        direction_pin: I2SO.12
        disable_pin: I2SO.15
        cspin: NOPIN
        spi_index: 4
        rsenseohms: 0.022
        run_amps: 0.5
        hold_amps: 0.5
        microsteps: 16
        toff_disable: 0
        toff_stealthchop: 5
        use_enable: false
        run_mode: CoolStep
        homing_mode: CoolStep
        stallguard: 16
        stallguard_debug: false
        toff_coolstep: 3
        tpfd: 4
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.0
  carddetectpin: NO_PIN
  frequency_hz: 8000000

I2SO.3
coolant:


  flood_pin: gpio.2:high


  mist_pin:  gpio.3:low


gpio.4 # HB MOS
probe:


  pin: gpio.5:low:pu


  toolsetter_pin: gpio.14:low
Begin Huanyang

#uart1:

 txd_pin: gpio.15


 rxd_pin: gpio.16


 rts_pin: gpio.14


 baud: 9600


 mode: 8N1
Huanyang:


 uart_num: 1


 modbus_id: 1


 tool_num: 0


 speed_map: 0=0% 8000=22% 10000=27% 15000=40% 2000=54% 24000=63%   


 offonalarm: false
PWM:
   pwm_hz: 5000
   output_pin: gpio.13
   enable_pin: gpio.04:high
   directionpin: NOPIN
   disablewiths0: true
   s0withdisable: true
   spinup_ms: 0
   spindown_ms: 0
   tool_num: 0
   speed_map: 0=0% 6000=19% 12000=39% 18000=60% 24000=100%  
   offonalarm: false
i2c0:
   sda_pin: gpio.27
   scl_pin: gpio.26
status_outputs:
  reportintervalms: 500
  idle_pin: I2SO.11:low
  run_pin: I2SO.14:low
  alarm_pin: I2SO.3:low

hold_pin: gpio.16

Startup Messages

the only message that shows up when sending "$ss" is the following:
ok

User Interface Software

UGS

What happened?

Hello I am using FluidNC on a Rodent motherboard, all works as expected except G1 moves across long distances.

For example starting at X200 Z0 Y0
If I send a “G1 X-200 F1000” the motor does not move in a uniform speed as it does with G0, the motor seems to be speeding up and down arround F1000, using UGS I can see the feedrate oscillating between 800 and 1200.

Video showing the issue: https://youtube.com/shorts/caanGXn2cSs
Spoken words translated to english:
“It goes slower then faster, you can also see it on the moving cutting head”
You can also hear in the video the stepping noise changing as the speed changes.

This behavior seems to be causing chatter when cutting metals.
Any idea what can be done to solve this weird behavior?

Using the latest FluidNc installed from the website.
Config of the axis is set to 100 accel with max speed set to 2000 mm/min.

GCode File

Manual Gcode sent
G1 X-200 F1000
G1 X200 F1000

Other Information

No response

评论 (7)

#1 – bdring 于 2025-09-27

Use the terminal on the Web Installer to restart FluidNC and get the start messages.

#2 – DLR3D 于 2025-09-27

Start messages:

[MSG:RST]
[MSG:INFO: FluidNC v3.9.8 https://github.com/bdring/FluidNC]
[MSG:INFO: Compiled with ESP32 SDK:v4.4.7-dirty]
[MSG:INFO: Local filesystem type is spiffs]
[MSG:INFO: Configuration file:configNoStops3.yaml]
[MSG:INFO: Machine 6040Z]
[MSG:INFO: Board BTT Rodent-Z V1.0]
[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.0 detect:NOPIN freq:8000000]
[MSG:INFO: I2C SDA: gpio.27, SCL: gpio.26, Freq: 100000, Bus #: 0]
[MSG:INFO: Stepping:I2S_STREAM Pulse:4us Dsbl Delay:0us Dir Delay:1us Idle Delay:255ms]
[MSG:INFO: Axis count 4]
[MSG:INFO: Axis X (0.000,480.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     tmc_5160 Step:I2SO.2 Dir:I2SO.1 CS:gpio.5 Disable:I2SO.0 Index:1 R:0.075]
[MSG:INFO: Axis Y (0.000,650.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     tmc5160 Step:I2SO.5 Dir:I2SO.4:low CS:NOPIN Disable:I2SO.7 Index:2 R:0.075]
[MSG:INFO: Axis Z (-150.000,0.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     tmc5160 Step:I2SO.10 Dir:I2SO.9:low CS:NOPIN Disable:I2SO.8 Index:3 R:0.075]
[MSG:INFO: Axis A (-175.000,150.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     tmc5160 Step:I2SO.13 Dir:I2SO.12 CS:NOPIN Disable:I2SO.15 Index:4 R:0.022]
[MSG:INFO: X Axis driver test passed]
[MSG:INFO: Y Axis driver test passed]
[MSG:INFO: Z Axis driver test passed]
[MSG:INFO: A Axis driver test passed]
[MSG:INFO: Kinematic system: Cartesian]
[MSG:INFO: Status outputs Interval:500 Idle:I2SO.11:low Cycle:I2SO.14:low Hold:NOPIN Alarm:I2SO.3:lowDoor:NOPIN]
[MSG:INFO: PWM Spindle Ena:gpio.4 Out:gpio.13 Dir:NO_PIN Freq:5000Hz Period:8191]
Grbl 3.9 [FluidNC v3.9.8 (noradio) '$' for help]
[MSG:INFO: ALARM: Unhomed]
ALARM:14
ok
[VER:3.9 FluidNC v3.9.8:]
[OPT:PHS]
[MSG:Machine: 6040Z]
ok

#3 – bdring 于 2025-09-27

I have a BTT Rodent. I’ll try to reproduce the problem with your settings.

#4 – bdring 于 2025-09-28

I have it running now. It seems pretty stable to me. I do not see any change in the feed rate and the motor sound is consistent.

Try using I2S_STATIC for the stepping engine.

#5 – MitchBradley 于 2025-09-28

I do not know why UGS is suppressing the output from $ss, but we really need to see it. Please connect with FluidTerm or WebInstaller and get the $ss results.

#6 – breiler 于 2025-09-29

This problem was solved as of UGS 2.1.16.

The problem was introduced when trying to fix another problem where it sent HuangYang messages during config/dump commands a while back.

#7 – DLR3D 于 2025-09-29

> I have it running now. It seems pretty stable to me. I do not see any change in the feed rate and the motor sound is consistent.
>
> Try using I2S_STATIC for the stepping engine.

Did some extra tests with the machine, ended up re-installing FluidNc after full flash erase via ESPtool, the problem seems to have disappeared completely. We can close the issue, not sure what caused it bue it seems something went wrong with the initial install or some leftover data on flash from previous GRBL install.

I can update UGS and request the “$ss” info but since the issue has dissappeared it no longer seems useful.

原始Issue: https://github.com/bdring/FluidNC/issues/1577

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