[FluidNC Issue#1593] Problem: BUG Fix FluidNC/src/Kinematics/ParallelDelta.cpp Line 291 should read return false; instead of just false;.

Wiki Search Terms

Delta, Config, Homing

Controller Board

Any, FluidNC 6x CNC Controller, I’m using a MKS DLC32 for this project.

Machine Description

Parallel Delta

!Image

Input Circuits

Configuration file

board: MKS-DLC32
name: My Delta yaml
meta: 9-27-2025 Edi Murway
stepping:
  engine: I2S_STATIC
#Static only, Stream Produces a second "ghost line" when doing engraving/Filling
  idle_ms: 255
  pulse_us: 6
  dirdelayus: 10
  disabledelayus: 0
kinematics:
  parallel_delta:
    crank_mm: 250.000
    basetrianglemm: 70.8
    linkage_mm: 340.36
    endeffectortriangle_mm: 44.45
    kinematicsegmentlen_mm: 0.500
    homingmposradians: 0.0
    soft_limits: false
    maxzmm: -300
    use_servos: false
start:
  must_home: true
  deactivate_parking: true
  check_limits: true
axes:
  sharedstepperdisable_pin: I2SO.0
  homing_runs: 1
  
  x:
    stepspermm: 100
    maxratemmpermin: 1000
    accelerationmmper_sec2: 250
    maxtravelmm: 40
    soft_limits: false
    homing:
      cycle: 1
      positive_direction: true
      mpos_mm: 0
      feedmmper_min: 100
      seekmmper_min: 500
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100
    motor0:
      limitpospin: gpio.36:low
      hard_limits: false
      pulloff_mm: 2.000
      stepstick:
        step_pin: I2SO.1
        direction_pin: I2SO.2:high
  y:
    stepspermm: 100
    maxratemmpermin: 1000
    accelerationmmper_sec2: 250
    maxtravelmm: 40
    soft_limits: false
    homing:
      cycle: 1
      positive_direction: true
      mpos_mm: 0
      feedmmper_min: 100
      seekmmper_min: 500
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100
    motor0:
      limitpospin: gpio.35:low
      hard_limits: false
      pulloff_mm: 2.000
      stepstick:
        step_pin: I2SO.5
        direction_pin: I2SO.6:high
  z:
    stepspermm: 100
    maxratemmpermin: 1000
    accelerationmmper_sec2: 250
    maxtravelmm: 40
    soft_limits: false
    homing:
      cycle: 1
      positive_direction: true
      mpos_mm: 0
      feedmmper_min: 100
      seekmmper_min: 500
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100
    motor0:
      limitpospin: gpio.34:low
      hard_limits: false
      pulloff_mm: 2.000
      stepstick:
        step_pin: I2SO.3
        direction_pin: I2SO.4:high
i2so:
  bck_pin: gpio.16
  data_pin: gpio.21
  ws_pin: gpio.17
spi:
  miso_pin: gpio.12
  mosi_pin: gpio.13
  sck_pin: gpio.14
sdcard:
  cs_pin: gpio.15
  carddetectpin: gpio.39
control:
  safetydoorpin: NO_PIN
  resetpin: NOPIN
  feedholdpin: NO_PIN
  cyclestartpin: NO_PIN
  macro0pin: NOPIN
  macro1pin: NOPIN
  macro2pin: NOPIN
  macro3pin: NOPIN
coolant:
  floodpin: NOPIN
  mistpin: NOPIN
  delay_ms: 0
probe:
  pin: NO_PIN
  checkmodestart: true
user_outputs:
  analog0pin: NOPIN
  analog1pin: NOPIN
  analog2pin: NOPIN
  analog3pin: NOPIN
  analog0_hz: 5000
  analog1_hz: 5000
  analog2_hz: 5000
  analog3_hz: 5000
  digital0pin: NOPIN
  digital1pin: NOPIN
  digital2pin: NOPIN
  digital3pin: NOPIN

Startup Messages

$SS
[MSG:INFO: FluidNC v3.9.9 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:config.yaml]
[MSG:INFO: Machine My Delta yaml]
[MSG:INFO: Board MKS-DLC32]
[MSG:INFO: I2SO BCK:gpio.16 WS:gpio.17 DATA:gpio.21Min Pulse:2us]
[MSG:INFO: SPI SCK:gpio.14 MOSI:gpio.13 MISO:gpio.12]
[MSG:INFO: SD Card cs_pin:gpio.15 detect:gpio.39 freq:8000000]
[MSG:INFO: Stepping:I2S_STATIC Pulse:6us Dsbl Delay:0us Dir Delay:10us Idle Delay:255ms]
[MSG:INFO: Axis count 3]
[MSG:INFO: Shared stepper disable I2SO.0]
[MSG:INFO: Axis X (-40.000,0.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     stepstick Step:I2SO.1 Dir:I2SO.2 Disable:NO_PIN]
[MSG:INFO:  Pos Limit gpio.36:low]
[MSG:INFO: Axis Y (-40.000,0.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     stepstick Step:I2SO.5 Dir:I2SO.6 Disable:NO_PIN]
[MSG:INFO:  Pos Limit gpio.35:low]
[MSG:INFO: Axis Z (-40.000,0.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     stepstick Step:I2SO.3 Dir:I2SO.4 Disable:NO_PIN]
[MSG:INFO:  Pos Limit gpio.34:low]
[MSG:INFO: Kinematic system:paralleldelta softlimits:0]
[MSG:INFO:   Z Offset:-222.449]
[MSG:INFO: Connecting to STA SSID:Edis WAP]
[MSG:INFO: Connecting.]
[MSG:INFO: Connecting..]
[MSG:INFO: Connected - IP is 192.168.1.147]
[MSG:INFO: WiFi on]
[MSG:INFO: Start mDNS with hostname:http://Edis-DeltaBot.local/]
[MSG:INFO: HTTP started on port 80]
[MSG:INFO: Telnet started on port 23]
ok

User Interface Software

UI 2

What happened?

No mater what I do When sending $H The stepper motors won’t move. Devin has reviewed my config file and it passes muster, also When I use the same config file configured for Cartesian kinematics it homes and moves just fine. Please make this patch ASAP as I don’t have the skills to compile the package.
As I don’t monitor git hub please notify me by email at: Edi@Murway.com or 775-849-2632

Devin Says:
Your configuration reveals the critical bug I mentioned earlier. The issue is in FluidNC v3.9.9’s ParallelDelta::kinematics_homing() function. ParallelDelta.cpp:288-291

The Bug: Line 291 is missing the return keyword. It should be return false; but instead just says false;. This means the function always returns true (the implicit return value from line 305), telling FluidNC that the kinematics system is handling homing itself (like it does for servos).

GCode File

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Other Information

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