3.6.0 parking does not work on corexy, and the field of several actions is getting an alarm:

[vadim7272]

Controller Board

MKS TinyBee V1.0_001 kinematics: corexy:

I have tried different limit switches. optical, induction and simple ones with a pull-up of 10 k ohm

Help From Board Vendor

• [ ] Yes
• [ ] No
• [X] Not Applicable

Machine Description

a4988

Configuration file

board: MKS TinyBee V1.0_001
name: Laser corexy
meta: (01.02.2022) by Skorpi

kinematics:
  corexy:

stepping:
  engine: I2S_STATIC
  idle_ms: 254
  pulse_us: 2
  dir_delay_us: 1
  disable_delay_us: 0

axes:
  x:
    # X
    steps_per_mm: 80.000
    max_rate_mm_per_min: 8000.000
    acceleration_mm_per_sec2: 1000.000
    max_travel_mm: 300.000
    soft_limits: false
    homing:
      cycle: 0
      positive_direction: false
      mpos_mm: -3.000
      feed_mm_per_min: 300.000
      seek_mm_per_min: 5000.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100

    motor0:
      limit_all_pin: gpio.32:low
      hard_limits: true
      pulloff_mm: 3.000
      stepstick:
        step_pin: I2SO.1
        direction_pin: I2SO.2
        disable_pin: I2SO.0

  y:
    # Y
    steps_per_mm: 80.000
    max_rate_mm_per_min: 8000.000
    acceleration_mm_per_sec2: 1000.000
    max_travel_mm: 300.000
    soft_limits: false
    homing:
      cycle: 1
      positive_direction: false
      mpos_mm: -3.000
      feed_mm_per_min: 300.000
      seek_mm_per_min: 5000.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100

    motor0:
      limit_all_pin: gpio.33:low
      hard_limits: true
      pulloff_mm: 3.000
      stepstick:
        step_pin: I2SO.4
        direction_pin: I2SO.5
        disable_pin: I2SO.3

  

i2so:
  bck_pin: gpio.25
  data_pin: gpio.27
  ws_pin: gpio.26

spi:
  miso_pin: gpio.19
  mosi_pin: gpio.23
  sck_pin: gpio.18

sdcard:
  cs_pin: gpio.5
  card_detect_pin: NO_PIN

arc_tolerance_mm: 0.6
junction_deviation_mm: 0.3

coolant:
  flood_pin: NO_PIN
  mist_pin: NO_PIN
  delay_ms: 0


control:
  macro0_pin: NO_PIN
  macro1_pin: NO_PIN
  macro2_pin: NO_PIN
  safety_door_pin: NO_PIN
  reset_pin: NO_PIN
  feed_hold_pin: NO_PIN
  cycle_start_pin: NO_PIN



macros:
 macro0: G91&G21 F200 X5&G91&G21 F200 y-50
 macro1: m0&G91&G21 F200 X5&G91&G21 F200 y-50

 

   
start:
  must_home: false
  deactivate_parking: true
  check_limits: true
  
Laser:
  pwm_hz: 5000
  output_pin: gpio.13
  enable_pin: I2SO.16
  disable_with_s0: false
  s0_with_disable: true
  tool_num: 100
  speed_map: 0=0.000% 255=100.000%
  
  
#parking:
  #enable: true
  #axis: x
  #target_mpos_mm: -5.000
  #pullout_distance_mm: 5.000
  #rate_mm_per_min: 800.000
  #pullout_rate_mm_per_min: 250.000

Startup Messages

normal

User Interface Software

webui laser grbl ,ploter grbl

What happened?

v3.4.1-3.4.3 trailers fall into alarm. the firmware is working fine. 3.4.4-3.5.0 firmware does not work. 3.6.0 limit switches stop the axis and all pull offs do not work at $Home , does not fall in alarm . after several actions we get alarm again, exit alarm only by rebooting. The firmware itself does not work very well.

if I put Kinematics Cartesian then the parking works but without pull off.

test firmware fluidnc-TestPullups-win64.zip and luidnc-TestParking2-win64.zip are the same, parking does not work a little bit and we get an alarm .

sort it out please with limit switches, parking, on Core xy

Other Information

No response

[vadim7272]

[vadim7272]

I installed your old firmware Grbl_Esp32 1.3 and everything works there and parking also works correctly. do the same on FluidNC.

#pragma once // clang-format off

/* TINI BEE CoreXY Grbl_ESP32

*/

#define MACHINE_NAME "Corelaser" #define CUSTOM_CODE_FILENAME "../Custom/CoreXY.cpp" #define CoreXY
#define USE_KINEMATICS #define USE_FWD_KINEMATICS

#define N_AXIS 3

// I2S #define USE_I2S_OUT #define USE_I2S_STEPS

#define I2S_OUT_BCK GPIO_NUM_25 #define I2S_OUT_WS GPIO_NUM_26 #define I2S_OUT_DATA GPIO_NUM_27

// Motor X #define X_DISABLE_PIN I2SO(0) #define X_DIRECTION_PIN I2SO(2) #define X_STEP_PIN I2SO(1)

// Motor Y #define Y_DIRECTION_PIN I2SO(5) #define Y_STEP_PIN I2SO(4) #define Y_DISABLE_PIN I2SO(3)

//**Endstop pins #define X_LIMIT_PIN GPIO_NUM_33 #define Y_LIMIT_PIN GPIO_NUM_32

// Cycle1=Y and Cycle0=X #define DEFAULT_HOMING_CYCLE_1 bit(Y_AXIS) #define DEFAULT_HOMING_CYCLE_0 bit(X_AXIS)

// The default value in config.h is wrong for this controller #ifdef INVERT_CONTROL_PIN_MASK #undef INVERT_CONTROL_PIN_MASK #endif

#define INVERT_CONTROL_PIN_MASK B011

#define DEFAULT_STEP_PULSE_MICROSECONDS 10 #define DEFAULT_STEPPER_IDLE_LOCK_TIME 250 // 255 = Keep steppers on

#define DEFAULT_STEPPING_INVERT_MASK 0 // uint8_t #define DEFAULT_DIRECTION_INVERT_MASK 0 // uint8_t #define DEFAULT_INVERT_ST_ENABLE 0 // boolean #define DEFAULT_INVERT_LIMIT_PINS 1 // boolean #define DEFAULT_INVERT_PROBE_PIN 0 // boolean

#define DEFAULT_STATUS_REPORT_MASK 1

#define DEFAULT_JUNCTION_DEVIATION 0.01 // mm #define DEFAULT_ARC_TOLERANCE 0.002 // mm #define DEFAULT_REPORT_INCHES 0 // false

#define DEFAULT_SOFT_LIMIT_ENABLE 0 // false #define DEFAULT_HARD_LIMIT_ENABLE 1 // false

#define DEFAULT_HOMING_ENABLE 1 // false #define DEFAULT_HOMING_DIR_MASK 3 // move positive dir Z,negative X,Y #define DEFAULT_HOMING_FEED_RATE 200.0 // mm/min #define DEFAULT_HOMING_SEEK_RATE 5000.0 // mm/min #define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k) #define DEFAULT_HOMING_PULLOFF 3.0 // mm

#define DEFAULT_LASER_MODE 0 // false

#define DEFAULT_X_STEPS_PER_MM 80.0 #define DEFAULT_Y_STEPS_PER_MM 80.0

#define DEFAULT_X_MAX_RATE 8000.0 // mm/min #define DEFAULT_Y_MAX_RATE 8000.0 // mm/min

#define DEFAULT_X_ACCELERATION 1000.0 // mm/sec^2 #define DEFAULT_Y_ACCELERATION 1000.0 // mm/sec^2

#define DEFAULT_X_MAX_TRAVEL 300.0 // mm #define DEFAULT_Y_MAX_TRAVEL 300.0 // mm