[Grbl_Esp32 Issue#426] Dual motor support for self-squaring gantry homing. About GRBL HAL

Issue #426 | 状态: 进行中 | 作者: master-kill | 创建时间: 2020-06-06

标签: enhancement

Hello, I used grbl with the Arduino Nano controller before. Now I want to use esp32, but there are some difficulties.
I have a 2-axis laser cnc. on the y axis I have two motors.
the problem is that returning to the square does not work. for this you need to have your own switch for each motor (Y and Y2)
This feature works great on Arduino Nano.
it should work like this:
1 all axles start driving home (X, Y, Y2)
2 each axis (X, Y, Y2) stops near its switch (switch X, switch Y, switch Y2)
3 execution of NHOMINGLOCATE_CYCLE
4 end (cnc in home position and square)

the problem is that after lim Y is triggered, motor Y2 stops and the machine does not become square. then NHOMINGLOCATE_CYCLE is executed, but the machine is not square

How to enable lim Y2 in the configuration of the machine?

!Безымянный-12
!Снимок

#1 – bdring 于 2020-06-06

Try $HY to home just the Y. I am not sure you can use auto square with 2 axes at once.

#2 – michael-ring 于 2020-07-19

I have a similar configuration, homing works just fine when you only use only YLIMITPIN and have the two homing switches connected together so that they work as an ‘OR’, which is easy with mechanical switches, simply connect them in parallel.

Here’s the relevant part of my config where I use the Z Axis as Y2:

#define YSTEPPIN GPIONUM25
#define YDIRECTIONPIN GPIONUM27

#define Y2STEPPIN GPIONUM17
#define Y2DIRECTIONPIN GPIONUM14
//#define ZSTEPPIN GPIONUM17
//#define ZDIRECTIONPIN GPIONUM14

#define XLIMITPIN GPIONUM13
#define YLIMITPIN GPIONUM5
//#define ZLIMITPIN GPIONUM19
#define LIMIT_MASK B111

#define HOMINGCYCLE0 (1<CYCLE1 (1<CYCLE2

#define USEGANGEDAXES
#define YAXISSQUARING

It would however be easier if it were possible to define an Y2LIMITPIN that is different from YLIMITPIN and then have GRBL do the logical ‘OR’.

Reason is that when you use optical endswitches you will need two diodes and an resistor to build this ‘or’ which is a (small) pain in the ass to build when you do not have the components at hand.

I ended up designing a small PCB that plugs on the CNC-Shield.

Reading through my config I am asking myself why I did this:
#define LIMIT_MASK B111

I think that should be enough:
#define LIMIT_MASK B11

#3 – Romain3481 于 2021-04-12

Hi ,
I would like an Y2 endstop to squaring too !
I read the wiki page on squaring, but i have a free pin to add an Y2 endstop, that seems more logical than “squaring in 3 times”.
(Thank you so much to contributors for this firmware !)

原始Issue: https://github.com/bdring/Grbl_Esp32/issues/426

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