bdring
Problem: Spindel spinup_ms doesn't work
Wiki Search Terms
Spindel
Controller Board
6-pack
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 cycle_start_pin, 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: 2025-11-29 RMk RS485 + FLuidDial
macros:
after_homing: G53G00X520Y-165Z130
control:
# STOP Taste
safety_door_pin: gpio.35:low
# Start Taste:
cycle_start_pin: gpio.34:low
# Home Taste:
homing_button_pin: gpio.39:low
# FU + Motortreiber WARN
fault_pin: gpio.2:low:pu
reset_pin: NO_PIN
# fault_pin: gpio.36
# feed_hold_pin: 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:
card_detect_pin: NO_PIN
cs_pin: gpio.5
start:
must_home: true
# used on opening DOOR
parking:
enable: true
axis: Z
pullout_distance_mm: 20.000
pullout_rate_mm_per_min: 250.000
target_mpos_mm: 120.000
rate_mm_per_min: 800.000
probe:
# not touching is high
pin: gpio.36:low
toolsetter_pin: NO_PIN
check_mode_start: true
hard_stop: true
# UART for FluidDial
uart2:
txd_pin: gpio.27
rxd_pin: gpio.25
rts_pin: NO_PIN
cts_pin: NO_PIN
baud: 1000000
mode: 8N1
uart_channel1:
report_interval_ms: 200
uart_num: 2
message_level: warn
#UART for RS485
#uart1:
# txd_pin: gpio.15
# rxd_pin: gpio.16
# rts_pin: gpio.14
# cts_pin: NO_PIN
# 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
# set_rpm_cmd: 06 00 64 rpm > echo
# get_rpm_cmd: 03 00 6e 00 01 > 03 02 rpm
# get_max_rpm_cmd: 03 00 0F 00 01 > 03 02 maxrpm*6/10 # this uses the base RPM and works
# get_max_rpm_cmd: 03 10 82 00 01 > 03 02 rpm*60/100
# get_min_rpm_cmd: 03 10 80 00 01 > 03 02 rpm*60/100
# get_max_rpm_cmd: 03 01 69 00 01 > 03 02 maxrpm*6/10
# get_min_rpm_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%
# off_on_alarm: true
SiemensV20:
debug: 0
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: 20000
spindown_ms: 20000
speed_map: 0=0% 1=12.5% 3000=37.5% 9000=37.5% 24000=100%
off_on_alarm: true
# poll_ms: 2000 # to be changed later, we use 2s right now only to reduce the debug output
# disable_with_s0: true
# s0_with_disable: true
#10V:
# forward_pin: NO_PIN
# reverse_pin: NO_PIN
# pwm_hz: 15000
# output_pin: gpio.13
# enable_pin: gpio.15
# direction_pin: gpio.14:low
# disable_with_s0: false
# s0_with_disable: 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%
# off_on_alarm: 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
dir_delay_us: 6
disable_delay_us: 0
segments: 6
axes:
shared_stepper_disable_pin: NO_PIN
homing_runs: 2
x:
steps_per_mm: 1000.0
max_rate_mm_per_min: 2200.000
acceleration_mm_per_sec2: 50.000
max_travel_mm: 558.000
soft_limits: true
homing:
cycle: 2
positive_direction: false
mpos_mm: 0.000
feed_mm_per_min: 50.000
seek_mm_per_min: 200.000
settle_ms: 500
seek_scaler: 1.100
feed_scaler: 1.100
motor0:
limit_neg_pin: gpio.33:low:pu
limit_pos_pin: NO_PIN
limit_all_pin: NO_PIN
hard_limits: true
pulloff_mm: 1.500
standard_stepper:
step_pin: I2SO.2
direction_pin: I2SO.1
disable_pin: I2SO.0
y:
steps_per_mm: 1000.000
max_rate_mm_per_min: 2000.000
acceleration_mm_per_sec2: 50.000
max_travel_mm: 411.000
soft_limits: true
homing:
cycle: 2
positive_direction: true
mpos_mm: 0.000
feed_mm_per_min: 50.000
seek_mm_per_min: 200.000
settle_ms: 500
seek_scaler: 1.100
feed_scaler: 1.100
motor0:
limit_neg_pin: NO_PIN
limit_pos_pin: gpio.26:low:pu
limit_all_pin: NO_PIN
hard_limits: true
pulloff_mm: 1.500
standard_stepper:
step_pin: I2SO.5
direction_pin: I2SO.4
disable_pin: I2SO.7
z:
steps_per_mm: 1000.000
max_rate_mm_per_min: 2000.000
acceleration_mm_per_sec2: 25.000
max_travel_mm: 165.000
soft_limits: true
homing:
cycle: 1
positive_direction: true
mpos_mm: 140.000
feed_mm_per_min: 50.000
seek_mm_per_min: 150.000
settle_ms: 500
seek_scaler: 1.100
feed_scaler: 1.100
motor0:
limit_neg_pin: NO_PIN
limit_pos_pin: gpio.32:low:pu
limit_all_pin: NO_PIN
hard_limits: true
pulloff_mm: 1.500
standard_stepper:
step_pin: I2SO.10
direction_pin: I2SO.9
disable_pin: I2SO.8
a:
steps_per_mm: 142.22222222222222
max_rate_mm_per_min: 2000.000
acceleration_mm_per_sec2: 100.000
max_travel_mm: 960.000
soft_limits: false
motor0:
limit_neg_pin: NO_PIN
limit_pos_pin: NO_PIN
limit_all_pin: 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
<Alarm|MPos:0.000,0.000,0.000,0.000|FS:0,0|WCO:264.889,-294.471,-15.151,0.000>
[GC:G0 G54 G17 G21 G90 G94 M5 M9 T0 F0 S0]
[GC:G0 G54 G17 G21 G90 G94 M5 M9 T0 F0 S0]
ok
$SS
<Alarm|MPos:0.000,0.000,0.000,0.000|FS:0,0|Ov:100,100,100>
[MSG:INFO: FluidNC v4.0.0-pre2 https://github.com/bdring/FluidNC]
[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_channel1 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 cs_pin:gpio.5 detect:NO PIN 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 (0.000,558.000)]
[MSG:INFO: Motor0]
[MSG:INFO: standard_stepper Step:I2SO.2 Dir:I2SO.1 Disable:I2SO.0]
[MSG:INFO: X Neg Limit gpio.33:low:pu]
[MSG:INFO: Axis Y (-411.000,0.000)]
[MSG:INFO: Motor0]
[MSG:INFO: standard_stepper Step:I2SO.5 Dir:I2SO.4 Disable:I2SO.7]
[MSG:INFO: Y Pos Limit gpio.26:low:pu]
[MSG:INFO: Axis Z (-25.000,140.000)]
[MSG:INFO: Motor0]
[MSG:INFO: standard_stepper Step:I2SO.10 Dir:I2SO.9 Disable:I2SO.8]
[MSG:INFO: Z 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: safety_door_pin gpio.35:low]
[MSG:INFO: cycle_start_pin gpio.34:low]
[MSG:INFO: fault_pin gpio.2:low:pu]
[MSG:INFO: homing_button_pin 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:NO PIN Cycle:I2SO.21 Hold:I2SO.23 Alarm:NO PINDoor: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:DBG: SiemensV20: setState:5 SpindleSpeed:0]
[MSG:DBG: setSpeed 0]
[MSG:INFO: Probe gpio.36:low]
ok
<Alarm|MPos:0.000,0.000,0.000,0.000|FS:0,0>
User Interface Software
WebUI, FluidDial pendant
What happened?
When starting the spindle at a speed of 10,000 rpm via the webui, the spindle starts but stops before reaching the correct speed and before exceeding spinup_ms: 20,000 ms, and displays the error message (see Other Information). Changing spinup_ms does not change this. It feels like the spinup_ms is not considered at all. Am I wrong to expect that only after 20 sec this error should occur if the spindle didn't reach its target speed.
GCode File
No response
Other Information
[GC:G0 G54 G17 G21 G90 G94 M5 M9 T0 F0 S10000] [MSG:DBG: SiemensV20: setState:3 SpindleSpeed:10000] [MSG:DBG: setSpeed 166] [MSG:DBG: set_mode 3] [MSG:DBG: Setting VFD speed to 166] [MSG:DBG: Setting VFD Scaled Value -6799 Byte 1 229 Byte 2 113] [MSG:DBG: VFD Measured Value 0 Freq 0] [MSG:DBG: VFD Measured Value 0 Freq 0] [MSG:DBG: VFD Measured Value 0 Freq 0] [MSG:DBG: VFD Measured Value 445 Freq 10] [MSG:INFO: RS485 received message of unexpected length; expected:7 got:6] [MSG:INFO: RS485 received message from other modbus device] [MSG:DBG: VFD Measured Value 5272 Freq 128] [MSG:ERR: SiemensV20: spindle did not reach device units 166. Reported value is 128] ok [MSG:DBG: SiemensV20: setState:5 SpindleSpeed:0] [MSG:DBG: setSpeed 0] [MSG:DBG: set_mode 5] [MSG:DBG: Setting VFD speed to 0] [MSG:DBG: Setting VFD Scaled Value 0 Byte 1 0 Byte 2 0] <Idle|MPos:520.000,-165.000,130.000,0.000|FS:0,0|Ov:100,100,100> [GC:G0 G54 G17 G21 G90 G94 M3 M9 T0 F0 S10000] [MSG:INFO: RS485 received message of unexpected length; expected:7 got:5] [MSG:DBG: VFD Measured Value 5441 Freq 132] [MSG:DBG: VFD Measured Value 4957 Freq 121] [MSG:DBG: VFD Measured Value 4472 Freq 109] [MSG:DBG: VFD Measured Value 3987 Freq 97] [MSG:DBG: VFD Measured Value 3503 Freq 85] [MSG:DBG: VFD Measured Value 3018 Freq 73] [MSG:DBG: VFD Measured Value 2533 Freq 61] [MSG:ERR: SiemensV20: spindle did not reach device units 0. Reported value is 61] [MSG:INFO: ALARM: Spindle Control] ALARM:10 ALARM:10 <Alarm|MPos:520.000,-165.000,130.000,0.000|FS:0,0> [MSG:DBG: SiemensV20: setState:5 SpindleSpeed:0] [MSG:DBG: VFD Measured Value 1222 Freq 29] [MSG:DBG: VFD Measured Value 737 Freq 17] [MSG:DBG: VFD Measured Value 252 Freq 6] [MSG:DBG: VFD Measured Value 0 Freq 0] [MSG:DBG: VFD Measured Value 0 Freq 0] [MSG:DBG: VFD Measured Value 0 Freq 0] [MSG:DBG: VFD Measured Value 0 Freq 0] [MSG:DBG: VFD Measured Value 0 Freq 0] [MSG:DBG: VFD Measured Value 0 Freq 0] [MSG:DBG: VFD Measured Value 0 Freq 0] [MSG:ERR: SiemensV20: spindle did not reach device units 0. Reported value is 0] [MSG:INFO: ALARM: Spindle Control] ALARM:10 ALARM:10 [MSG:DBG: SiemensV20: setState:5 SpindleSpeed:0] [MSG:INFO: ALARM: Spindle Control] ALARM:10 ALARM:10 ERROR:9 G-code commands are locked out during alarm or jog state. [MSG:ERR: GCode cannot be executed in lock or alarm state]
Try defining the UART outside the "SiemensV20" block, as described in the wiki:
http://wiki.fluidnc.com/en/config/config_spindles#:~:text=uart1%3A%20txd_pin%3A%20gpio.17%20rxd_pin%3A%20gpio.16%20rts_pin%3A%20gpio.4%20baud%3A%209600%20mode%3A%208e1%20siemensv20%3A%20uart_num%3A%201%20modbus_id%3A%201%20tool_num%3A%200%20speed_map%3A%200%3D0%25%2024000%3D100%25
Like so:
uart1:
txd_pin: gpio.15
rxd_pin: gpio.16
rts_pin: gpio.14
baud: 9600
mode: 8E1
SiemensV20:
uart_num: 1
debug: 0
modbus_id: 1
tool_num: 0
spinup_ms: 20000
spindown_ms: 20000
speed_map: 0=0% 1=12.5% 3000=37.5% 9000=37.5% 24000=100%
off_on_alarm: true
Like so:
uart1: txd_pin: gpio.15 rxd_pin: gpio.16 rts_pin: gpio.14 baud: 9600 mode: 8E1 SiemensV20: uart_num: 1
The RS485 communication is working, the spindle starts, so I don't think that should make a difference.
what is the spin up time on the VFD?
I don´t know exactly but mayby around 2 to 5 seconds. Definitely shorter than 20 seconds and the error occurs after about 1 second.
BTW: I updated from version 3.9.6 to 4.0 pre2
The alternative form with the uart section is more correct, but it won't affect the problem behavior.
- Was everything working before the upgrade to v4.0.0 pre2?
- What command did you send to create there error? (like M3)
- Where did you send the command from?
- Was everything working before the upgrade to v4.0.0 pre2?
Yes, it always worked well, at least when the spindle was started or stopped by the gcode. However, when the spindle was started via the WebUI, sometimes an error occurred. When stopping the spindle by pressing the off button in the WebUI, everything worked fine if the speed was above16.000 or 18.000 rpm. If it was below that, the spindle rotated at minimum speed in the other direction until the fluidnc issued the spindle control alarm.
* What command did you send to create there error? (like M3)
I Started the spindle via the buttons on the Web UI, I didn't know exactly what command it is.
* Where did you send the command from?
From the Web UI
BTW: It looks like the debug messages from the VFD appear faster in the Version 4.0 pre2 as in the version 3.9.6 But that's only a feeling. ;-)
I tried what happens when I type m3 S10000 into the command line, and the same error occurs.
Is it correct to assume that if spinup_ms is set to 20000 ms, the message [MSG:ERR: SiemensV20: spindle did not reach device units 166. Reported value is 128] should only appear after 20 seconds?
If it was working before with no hardware or config changes, there is likely a bug in the new release.
v4.0.0 is current in pre release so people can catch issues like this. The developers don't have every type of VFD, so this may take some time. Please revert to the version that was working for you.
Hi, I'm working on implementing a protocol for the MK100 VFD, and I noticed a similar issue. I think the problem is in this fragment:
while ((_last_override_value == sys.spindle_speed_ovr()) && // skip if the override changes ((_sync_dev_speed < minSpeedAllowed || _sync_dev_speed > maxSpeedAllowed) && unchanged < limit)) { if (!xQueueReceive(VFD::VFDProtocol::vfd_speed_queue, &_sync_dev_speed, 3000)) { mc_critical(ExecAlarm::SpindleControl); log_error(name() << ": spindle did not reach device units " << dev_speed << ". Reported value is " << _sync_dev_speed); _syncing = false; return; } }
I couldn’t find where the speed is actually being pushed into VFD::VFDProtocol::vfd_speed_queue.
So I believe the current behavior is:
- Check the entry condition – enter the loop
- Wait to receive a message
- No message received – timeout after 3 seconds
- mc_critical(ExecAlarm::SpindleControl); is called
Adding
xQueueSend(VFD::VFDProtocol::vfd_speed_queue, &vfd->_sync_dev_speed, 0);
to method
VFDProtocol::response_parser MK100Protocol::get_current_speed(ModbusCommand& data)
fit it
I know this is a bad fix — especially since I don't fully understand the unchanged < limit check. It’s likely that unchanged needs to be updated within the while loop to ensure the condition behaves as expected.
The message should probably be added to the queue somewhere within the VFDSpindle class.