Status report for rotary axes?

[paukstelis]

I am trying to understand the $10 bitmask and why when I am in the Run state my rotary axes (A and B) report the machine position and my Cartesian axes report the work position: <Run|WPos:-16.525,0.000,-5.730,125211.453,181.006|FS:498,1000>. In idle state it does not do this, and reports all of them as work positions.

[terjeio]

$10, $14 and $376 is set to what? And which of G20 or G21 is active?
A status report with WCO data for both Idle and Run states, preferably with rotary axes in the same position might help.

[paukstelis]

$10, $14 and $376 is set to what? And which of G20 or G21 is active? A status report with WCO data for both Idle and Run states, preferably with rotary axes in the same position might help.

$10=156
$14=70
$376=3

All the coordinates are correct for the workspace when idle: <Idle|WPos:85.925,0.000,42.870,24.078,0.000|FS:0,0>

[paukstelis]

It seems that after I manually set the A axis machine coordinates to 0 (G92 A0) it starts to report correctly for A (as expected) but also for the B-axis during a run: <Run|WPos:26.500,0.000,-2.010,-29.062,0.000>

EDIT: Additional, even after this, I have noted that while jogging it will report with the machine rotary values: <Jog|WPos:-7.320,0.000,-1.010,125216.062,181.006>

[terjeio]

Is your firmware an older or custom version that has this bug? What is your $I output?

[paukstelis]

It is only custom in the sense that I did pin mappings for the FLY-CDY-V3 board.
I did compile to use a stepper spindle to try to work out a good way to do continuous rotation (#734)

Send: $I
Recv: [VER:1.1f.20250317:]
Recv: [OPT:VNMSLW,100,1024,5,0]
Recv: [AXS:5:XYZAB]
Recv: [NEWOPT:ENUMS,RT+,ES,SED,TMC=29]
Recv: [FIRMWARE:grblHAL]
Recv: [SIGNALS:HSEP]
Recv: [SPINDLES:2]
Recv: [NVS STORAGE:*FLASH]
Recv: [FREE MEMORY:89K]
Recv: [DRIVER:STM32F407]
Recv: [DRIVER VERSION:250311]
Recv: [BOARD:FLY-CDY-V3]
Recv: [AUX IO:1,0,0,0]
Recv: [PLUGIN:Bootloader Entry v0.03]
Recv: [PLUGIN:Trinamic v0.26]
Recv: [PLUGIN:Stepper enable v0.03]

[terjeio]

Since I am not able to replicate can you change this line to wco[idx] = gc_get_offset(idx, false); Does the change resolve the issue?

[paukstelis]

No change.

[terjeio]

Compile for the Debug F446 Nucleo144 configuration, zip the .bin along your map file and my_machine.h and add to a comment.