Did grblHAL support rigid Threading or rigid Tapping ? #295

hanifhan · 2023-05-02T07:47:51Z

hanifhan
May 2, 2023

Hi terje , id like to ask if is there any function to activate rigid tapping or threading ?

terjeio · 2023-05-02T07:59:55Z

terjeio
May 2, 2023
Maintainer

Some drivers supports threading (spindle synced motion) in lathe mode (still needs to be tested extensively). Rigid tapping or threading in a mill is not - but might be supported later.

22 replies

terjeio May 19, 2023
Maintainer

Short version: Step generation breaks motion up in ~5ms segments where step rate and direction remains the same. For each new segment angular position is read from the encoder input and compared with the position the stepper driver says it should be. The difference is fed to a PID controller (pdf) and the result is used to calculate and set a step rate that would lead to the positions (eventually) matching up. Most of the code is in driver.c, PID controller code is in the core.

Note that the PID controller/feedback loop has to be tuned to match the dynamic properties of the system. ioSender has a tab to aid tuning where actual and programmed position is plotted, available if PID logging is enabled.

hanifhan May 20, 2023
Author

so , is it automatically synchronizing the spindle speed based on Encoder or the function still not enable ?

hanifhan May 20, 2023
Author

can u give me an example tutorial ?

terjeio May 20, 2023
Maintainer

so , is it automatically synchronizing the spindle speed based on Encoder...

It is synchronizing the feed rate with the spindle speed - or more precisely, the feed rate to keep the tool tip in sync with the angular position of the spindle.

... or the function still not enable ?

Sorry, I do not understand this part of the question. Or are you asking about closed loop spindle speed where the encoder input is used to keep the spindle at the programmed speed? If so, then this functionality is only available for the MSP432 driver and it is in an experimental state.

can u give me an example tutorial ?

I intend to write a Wiki page about how to configure and tune spindle sync. Or did you think of something else?

hanifhan May 20, 2023
Author

ohh i see , i think the spindly sync is the function where the encoder input is used to keep the spindle at programmed speed

tggo · 2023-05-13T00:51:43Z

tggo
May 13, 2023

I try spindle sync with Nucleo-144 (STM32F756ZG MCU) and Omron E6B2-CWZ6C 500p/r (with one output OUT A) and index hall sensor index. And receive odd numbers with constant spindle speed.

All cables fine, tested encoder with ESP32 Pulse Counter (PCNT) - all work fine.

Odd rpm count

<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,1208|Pn:S|A:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,360|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,5952|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,151|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,1235|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,1068|Pn:S|WCO:-82.000,0.000,-7.200>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,166667|Pn:S|Ov:100,100,100|A:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,7246|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,288|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,27778|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,7246|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,4902|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,1603|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,1263|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,288|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,1312|Pn:S|WCO:-82.000,0.000,-7.200>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,7246|Pn:S|Ov:100,100,100|A:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,5747|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,5747|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,1111|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,4902|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,158|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,1323|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,380|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,395|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,963|Pn:S|WCO:-82.000,0.000,-7.200>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,307|Pn:S|Ov:100,100,100|A:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,5747|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,5952|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,4902|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,135|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,189|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,1208|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,294|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,1157|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,1029|Pn:S|WCO:-82.000,0.000,-7.200>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,7246|Pn:S|Ov:100,100,100|A:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,9804|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,1149|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,1253|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,1253|Pn:S>

my_machine_map.h

#define SPINDLE_INDEX_PORT      GPIOB
#define SPINDLE_INDEX_PIN       15
#define SPINDLE_INDEX_BIT       (1<<SPINDLE_INDEX_PIN)

#define SPINDLE_PULSE_PORT      GPIOD
#define SPINDLE_PULSE_PIN       2
#define SPINDLE_PULSE_BIT       (1<<SPINDLE_PULSE_PIN)

Can you please tell me what I need to look at and configure in order for it to work?

6 replies

tggo May 13, 2023

Yep, after changing the connection point of the encoder cable shield, everything became great.

Real RPM 110

<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,107|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,106|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,109|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,104|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,107|Pn:S|WCO:-82.000,0.000,-7.200>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,107|Pn:S|Ov:100,100,100|A:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,108|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,109|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,109|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,105|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,105|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,107|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,109|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,110|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,105|Pn:S|WCO:-82.000,0.000,-7.200>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,109|Pn:S|Ov:100,100,100|A:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,108|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,107|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,108|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,107|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,109|Pn:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,100,108|Pn:S>

Thanks for the help!

tggo May 13, 2023

And another problem, receive - Status_GcodeSpindleNotRunning = 41
Why? Spindle work normal. RPM is real.

M3 S100
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,110,106|Pn:ZS|Ov:100,100,100|A:S>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,110,107|Pn:ZS>
<Idle|MPos:0.000,0.000,0.000|Bf:35,1023|FS:0,110,109|Pn:ZS>
G33 K1 Z-10
error:41

>>> $sd
[SPINDLE:166,16672,0,166.727]
ok
>>> $sd
[SPINDLE:182,18246,0,182.467]
ok
>>> $sd
[SPINDLE:195,19555,0,195.554]
ok
>>> $sd
[SPINDLE:208,20864,0,208.647]
ok
>>> $sd
[SPINDLE:216,21669,0,216.690]

$1 = 255    (Step idle delay, milliseconds)
$2 = 0    (Step pulse invert, mask)
$3 = 0    (Step direction invert, mask)
$4 = 7    (Invert step enable pin, boolean)
$5 = 0    (Invert limit pins, boolean)
$9 = 1   
$10 = 511    (Status report options, mask)
$11 = 0.010    (Junction deviation, millimeters)
$12 = 0.002    (Arc tolerance, millimeters)
$13 = 0    (Report in inches, boolean)
$14 = 0   
$15 = 0   
$16 = 0   
$17 = 0   
$20 = 0    (Soft limits enable, boolean)
$18 = 0   
$21 = 0    (Hard limits enable, boolean)
$22 = 0    (Homing cycle enable, boolean)
$23 = 0    (Homing direction invert, mask)
$24 = 25.0    (Homing locate feed rate, mm/min)
$25 = 500.0    (Homing search seek rate, mm/min)
$26 = 250    (Homing switch debounce delay, milliseconds)
$27 = 1.000    (Homing switch pull-off distance, millimeters)
$28 = 0.100   
$29 = 0.0   
$30 = 760.000    (Maximum spindle speed, RPM)
$31 = 80.000    (Minimum spindle speed, RPM)
$32 = 2    (Laser-mode enable, boolean)
$33 = 10000.0   
$34 = 0.0   
$35 = 11.0   
$36 = 100.0   
$38 = 360   
$37 = 0   
$39 = 1   
$40 = 0   
$43 = 1   
$44 = 4   
$45 = 3   
$46 = 0   
$62 = 0   
$63 = 2   
$64 = 0   
$70 = 3   
$90 = 0.500   
$91 = 0.500   
$92 = 0.500   
$95 = 0.000   
$100 = 3200.000    (X-axis travel resolution, step/mm)
$101 = 3200.000    (Y-axis travel resolution, step/mm)
$102 = 3200.000    (Z-axis travel resolution, step/mm)
$110 = 1000.000    (X-axis maximum rate, mm/min)
$111 = 500.000    (Y-axis maximum rate, mm/min)
$112 = 1000.000    (Z-axis maximum rate, mm/min)
$120 = 10.000    (X-axis acceleration, mm/sec^2)
$121 = 10.000    (Y-axis acceleration, mm/sec^2)
$122 = 100.000    (Z-axis acceleration, mm/sec^2)
$130 = 100.000    (X-axis maximum travel, millimeters)
$131 = 200.000    (Y-axis maximum travel, millimeters)
$132 = 300.000    (Z-axis maximum travel, millimeters)
$300 = grblHAL   
$301 = 0   
$302 = 192.168.88.98   
$303 = 192.168.88.1   
$304 = 255.255.255.0   
$305 = 23   
$307 = 80   
$340 = 0.0   
$341 = 0   
$342 = 30.0   
$343 = 25.0   
$344 = 200.0   
$345 = 200.0   
$346 = 1   
$384 = 0   
$398 = 35   
$481 = 0

tggo May 13, 2023

Record video with debug session https://youtu.be/jh0yEYxLT_A

terjeio May 13, 2023
Maintainer

Do you have a spindle spin up delay after starting the spindle (G4Pn where n is number of seconds) or set $340 (spindle at speed tolerance)?
Setting $340 > 0 is the safest option as this checks the actual RPM vs the programmed RPM before continuing.

tggo May 13, 2023

Ok, $340=50 help
Thanks so much.

Now freezing after some work, may be wire not good. I will check.
Thanks again.

Did grblHAL support rigid Threading or rigid Tapping ? #295

Uh oh!

Uh oh!

hanifhan May 2, 2023

Replies: 2 comments · 28 replies

Uh oh!

terjeio May 2, 2023 Maintainer

Uh oh!

terjeio May 19, 2023 Maintainer

Uh oh!

hanifhan May 20, 2023 Author

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hanifhan May 20, 2023 Author

Uh oh!

terjeio May 20, 2023 Maintainer

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hanifhan May 20, 2023 Author

Uh oh!

tggo May 13, 2023

Uh oh!

tggo May 13, 2023

Uh oh!

Uh oh!

tggo May 13, 2023

Uh oh!

tggo May 13, 2023

Uh oh!

terjeio May 13, 2023 Maintainer

Uh oh!

tggo May 13, 2023

hanifhan
May 2, 2023

Replies: 2 comments 28 replies

terjeio
May 2, 2023
Maintainer

terjeio May 19, 2023
Maintainer

hanifhan May 20, 2023
Author

hanifhan May 20, 2023
Author

terjeio May 20, 2023
Maintainer

hanifhan May 20, 2023
Author

tggo
May 13, 2023

terjeio May 13, 2023
Maintainer