spindle rpm does not appear

[yuuahmad-aii]

@terjeio

I am building the latest version of grblhal version grblhal but i don't get any rpm verbose messages on FS:
Here is a look at the verbose output

<Idle|MPos:0.000,0.000,0.000|Bf:100,1023|FS:0,0>

any suggestions?

this is my parameter view. I also included the output of $sd and $sr which for some reason displays error messages.

*** Fetching device version
>>> $I
[VER:1.1f.20250329:]
[OPT:VNMSL,100,1024,3,0]
[AXS:3:XYZ]
[NEWOPT:ENUMS,RT+,NOPROBE,ES,LATHE,EXPR,SS,SED]
[FIRMWARE:grblHAL]
*** Fetching device settings
[SIGNALS:HSE]
[NVS STORAGE:*FLASH]
[FREE MEMORY:101K]
[DRIVER:STM32F446]
[DRIVER VERSION:250328]
[BOARD:Nucleo-64 CNC Breakout]
[AUX IO:5,4,0,0]
ok
>>> $$
$0 = 5.0    (Step pulse time, microseconds)
$1 = 25    (Step idle delay, milliseconds)
$2 = 0    (Step pulse invert, mask)
$3 = 0    (Step direction invert, mask)
$4 = 7    (Invert step enable pin, boolean)
$5 = 7    (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 = 70   
$15 = 0   
$16 = 0   
$17 = 0   
$18 = 0   
$20 = 0    (Soft limits enable, boolean)
$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 = 1000.000    (Maximum spindle speed, RPM)
$31 = 0.000    (Minimum spindle speed, RPM)
$32 = 2    (Laser-mode enable, boolean)
$33 = 5000.0   
$34 = 0.0   
$35 = 0.0   
$36 = 100.0   
$37 = 0   
$38 = 2500   
$39 = 1   
$40 = 0   
$43 = 1   
$44 = 4   
$45 = 3   
$46 = 0   
$62 = 0   
$63 = 3   
$64 = 0   
$90 = 0.000   
$91 = 0.000   
$92 = 0.000   
$95 = 0.000   
$100 = 250.00000    (X-axis travel resolution, step/mm)
$101 = 250.00000    (Y-axis travel resolution, step/mm)
$102 = 250.00000    (Z-axis travel resolution, step/mm)
$110 = 500.000    (X-axis maximum rate, mm/min)
$111 = 500.000    (Y-axis maximum rate, mm/min)
$112 = 500.000    (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 = 10.000    (Z-axis acceleration, mm/sec^2)
$130 = 200.000    (X-axis maximum travel, millimeters)
$131 = 200.000    (Y-axis maximum travel, millimeters)
$132 = 200.000    (Z-axis maximum travel, millimeters)
$340 = 90.0   
$341 = 0   
$342 = 30.0   
$343 = 25.0   
$344 = 200.0   
$345 = 200.0   
$346 = 1   
$370 = 0   
$372 = 0   
$384 = 0   
$394 = 0.0   
$398 = 100   
$481 = 0   
$484 = 1   
$486 = 0   
$534 = 0   
$539 = 0.0   
$673 = 0.0   
$676 = 3   
*** Connected to GRBL 1.1f
ok
>>> $G
[GC:G0 G54 G8 G17 G21 G90 G94 G97 G49 G98 G50 M5 M9 T0 F0 S0.]
ok
>>> $spindles
0 - PWM
ok
>>> $spindlesh
[SPINDLE:0|0|0|*DIRV|PWM|0.0,1000.0]
ok
>>> $sd
An error was detected while sending '$sd': (error:3) Grbl '$' system command was not recognized or supported. Streaming has been paused.
>>> $sr
An error was detected while sending '$sr': (error:3) Grbl '$' system command was not recognized or supported. Streaming has been paused.

and this is the setting of platformio.ini

[env:nucleo_f446re_morpho_cnc]
board = nucleo_f446re
board_build.ldscript = STM32F446RETX_FLASH.ld
build_flags = ${common.build_flags}
  # See Inc/my_machine.h for options
  -D BOARD_MORPHO_CNC=
  -D NUCLEO_F446=
  -D SPINDLE_ENCODER_ENABLE
  -D SPINDLE_SYNC_ENABLE
  -D PROBE_ENABLE=0
  -D SPINDLE0_ENABLE=11
  -D N_SPINDLE=1
lib_deps = ${common.lib_deps}
  eeprom
lib_extra_dirs = ${common.lib_extra_dirs}

[terjeio]

There was a bug in binding the encoder to the spindle, should be fixed now.

[yuuahmad-aii]

ok thanks, now the spindle rpm can be read.

and how do i enable pid for spindle? i have tried enabling spindle sync and filling in parameters $90,91,92,95 and here is the output of $spindles and $spindlesh. but capability P still doesn't appear.

are there any settings that need to be changed in config.h? or are there other settings that i don't know yet?

>>> $spindlesh
[SPINDLE:0|0|0|*SDIRVE|PWM|0.0,1000.0]
ok
>>> $spindles
0 - PWM
ok
>>> $I
[VER:1.1f.20250405:]
[OPT:VNMSL,100,1024,3,0]
[AXS:3:XYZ]
[NEWOPT:ENUMS,RT+,ES,LATHE,EXPR,SS,SED,RTC,PID]
[FIRMWARE:grblHAL]
[SIGNALS:HSEP]
[NVS STORAGE:*FLASH]
[FREE MEMORY:85K]
[DRIVER:STM32F446]
[DRIVER VERSION:250328]
[BOARD:Nucleo-64 CNC Breakout]
[AUX IO:4,4,0,0]
[PLUGIN:Feed override v0.01]
ok
*** Fetching device settings
>>> $$
$0 = 5.0    (Step pulse time, microseconds)
$1 = 25    (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)
$6 = 0    (Invert probe pin, 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   
$18 = 0   
$19 = 0   
$20 = 0    (Soft limits enable, boolean)
$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 = 1000.000    (Maximum spindle speed, RPM)
$31 = 0.000    (Minimum spindle speed, RPM)
$32 = 2    (Laser-mode enable, boolean)
$33 = 5000.0   
$34 = 0.0   
$35 = 0.0   
$36 = 100.0   
$37 = 0   
$38 = 2500   
$39 = 1   
$40 = 0   
$43 = 1   
$44 = 4   
$45 = 3   
$46 = 0   
$62 = 0   
$63 = 3   
$64 = 0   
$65 = 0   
$90 = 0.000   
$91 = 0.000   
$92 = 0.000   
$95 = 0.000   
$100 = 250.00000    (X-axis travel resolution, step/mm)
$101 = 250.00000    (Y-axis travel resolution, step/mm)
$102 = 250.00000    (Z-axis travel resolution, step/mm)
$110 = 500.000    (X-axis maximum rate, mm/min)
$111 = 500.000    (Y-axis maximum rate, mm/min)
$112 = 500.000    (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 = 10.000    (Z-axis acceleration, mm/sec^2)
$130 = 200.000    (X-axis maximum travel, millimeters)
$131 = 200.000    (Y-axis maximum travel, millimeters)
$132 = 200.000    (Z-axis maximum travel, millimeters)
$160 = 0.00000   
$161 = 0.00000   
$162 = 0.00000   
$340 = 90.0   
$341 = 0   
$342 = 30.0   
$343 = 25.0   
$344 = 200.0   
$345 = 200.0   
$346 = 1   
$370 = 0   
$372 = 0   
$384 = 0   
$394 = 0.0   
$398 = 100   
$481 = 0   
$484 = 1   
$486 = 0   
$534 = 0   
$539 = 0.0   
$673 = 0.0   
$676 = 3   

[terjeio]

You have not set $90 (P-factor), start with 1. And $390 (spindle at speed tolerance) is set far too high, it should be within a few percent to ensure the spindle is close the correct RPM before cutting starts.

Spindle capabaility P is for PID controlled RPM, only the MSP432 driver has experimental support for that and it is not needed for spindle sync. BTW spindle sync is not a spindle capability it is a driver+board capability. Encoder binding, which is required, is shown by capability E.