问题：如何设置CoreXY DrawBot？ #719

德利昂

控制板

MKS DLC32 V2.1

机器描述

DrawBot V1.1 ( https://www.thingiverse.com/thing:2349232 ) 绘图仪，带有 MKS TMC2209 步进器和 2x Creality 42-34 步进器。
12V 电源。步进驱动器下方的变码开关都处于高位。

输入电路

没有反应

配置文件

board: MKS-DLC32 V2.1
name: Plottergeist
meta: (21.11.2022) by thedevleon

kinematics:
  corexy:

stepping:
  engine: I2S_STATIC
  idle_ms: 0
  pulse_us: 4
  dir_delay_us: 1
  disable_delay_us: 0


axes:
  shared_stepper_disable_pin: I2SO.0

  x:
    steps_per_mm: 157.750
    max_rate_mm_per_min: 500.000
    acceleration_mm_per_sec2: 200.000
    max_travel_mm: 500.000
    soft_limits: false
    homing:
      cycle: 1
      positive_direction: false
      mpos_mm: 0.000
      feed_mm_per_min: 100.000
      seek_mm_per_min: 200.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100

    motor0:
      limit_neg_pin: gpio.36:low
      hard_limits: false
      pulloff_mm: 2.000
      stepstick:
        step_pin: I2SO.1
        direction_pin: I2SO.2

  y:
    steps_per_mm: 157.750
    max_rate_mm_per_min: 500.000
    acceleration_mm_per_sec2: 200.000
    max_travel_mm: 350.000
    soft_limits: false
    homing:
      cycle: 1
      positive_direction: false
      mpos_mm: 0.000
      feed_mm_per_min: 100.000
      seek_mm_per_min: 200.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100

    motor0:
      limit_neg_pin: gpio.35:low
      hard_limits: false
      pulloff_mm: 2.000
      stepstick:
        step_pin: I2SO.5
        direction_pin: I2SO.6:low

  z:
    steps_per_mm: 100
    max_rate_mm_per_min: 5000
    acceleration_mm_per_sec2: 300
    max_travel_mm: 10
    homing:
      cycle: 1
      mpos_mm: 0
      positive_direction: true

    motor0:
      rc_servo:
        pwm_hz: 50
        output_pin: gpio.22
        min_pulse_us: 1000
        max_pulse_us: 2000

i2so:
  bck_pin: gpio.16
  data_pin: gpio.21
  ws_pin: gpio.17

spi:
  miso_pin: gpio.12
  mosi_pin: gpio.13
  sck_pin: gpio.14

sdcard:
  cs_pin: gpio.15
  card_detect_pin: NO_PIN

control:
  safety_door_pin: NO_PIN
  reset_pin: NO_PIN
  feed_hold_pin: NO_PIN
  cycle_start_pin: NO_PIN
  macro0_pin: NO_PIN
  macro1_pin: NO_PIN
  macro2_pin: NO_PIN
  macro3_pin: NO_PIN

macros:
  startup_line0:
  startup_line1:
  macro0:
  macro1:
  macro2:
  macro3:

coolant:
  flood_pin: NO_PIN
  mist_pin: NO_PIN
  delay_ms: 0

probe:
  pin: NO_PIN
  check_mode_start: true

# Laser:
#   pwm_hz: 5000
#   #L on Beeper / IN on TTL
#   output_pin: gpio.32
#   enable_pin: I2SO.7
#   disable_with_s0: false
#   s0_with_disable: false
#   tool_num: 0
#   speed_map: 0=0.000% 0=12.500% 1700=100.000%
# 135=0mA 270=5mA 400=10mA 700=16mA


user_outputs:
  analog0_pin: NO_PIN
  analog1_pin: NO_PIN
  analog2_pin: NO_PIN
  analog3_pin: NO_PIN
  analog0_hz: 5000
  analog1_hz: 5000
  analog2_hz: 5000
  analog3_hz: 5000
  digital0_pin: NO_PIN
  digital1_pin: NO_PIN
  digital2_pin: NO_PIN
  digital3_pin: NO_PIN

start:
  must_home: false

# 5,18,19,22,23,25,26,27,32,33,39,I2SO.7
# SDA 0 / SCL 4

启动消息

[MSG:INFO: FluidNC v3.6.5-pre3]
[MSG:INFO: Compiled with ESP32 SDK:v4.4.1-1-gb8050b365e]
[MSG:INFO: Local filesystem type is spiffs]
[MSG:INFO: Configuration file:mks_config.yaml]
[MSG:INFO: Machine Plottergeist]
[MSG:INFO: Board MKS-DLC32 V2.1]
[MSG:INFO: I2SO BCK:gpio.16 WS:gpio.17 DATA:gpio.21]
[MSG:INFO: SPI SCK:gpio.14 MOSI:gpio.13 MISO:gpio.12]
[MSG:INFO: SD Card cs_pin:gpio.15 detect:NO_PIN]
[MSG:INFO: Stepping:I2S_static Pulse:4us Dsbl Delay:0us Dir Delay:1us Idle Delay:0ms]
[MSG:INFO: Axis count 3]
[MSG:INFO: Shared stepper disable I2SO.0]
[MSG:INFO: Axis X (0.000,500.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     stepstick Step:I2SO.1 Dir:I2SO.2 Disable:NO_PIN]
[MSG:INFO:  X Neg Limit gpio.36:low]
[MSG:INFO: Axis Y (0.000,350.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     stepstick Step:I2SO.5 Dir:I2SO.6:low Disable:NO_PIN]
[MSG:INFO:  Y Neg Limit gpio.35:low]
[MSG:INFO: Axis Z (-10.000,0.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     rc_servo Pin:gpio.22 Pulse Len(1000,2000 period:1048575)]
[MSG:INFO: Kinematic system: CoreXY]
[MSG:INFO: Using spindle NoSpindle]
[MSG:INFO: Connecting to STA SSID:Xiaomi]
[MSG:INFO: Connecting.]
[MSG:INFO: Connecting..]
[MSG:INFO: Connected - IP is 192.168.31.5]
[MSG:INFO: WiFi on]
[MSG:INFO: Start mDNS with hostname:http://fluidnc.local/]
[MSG:INFO: SSDP Started]
[MSG:INFO: HTTP started on port 80]
[MSG:INFO: Telnet started on port 23]

用户界面软件

网页界面

发生了什么？

我对如何使用 CoreXY 动力学配置 DrawBot（参见上面的链接）有点迷茫。

目前，当我慢跑 +XI 时，我会在 +Y 方向移动。当我慢跑 +Y 时，我得到 -X 的运动。

我尝试交换电机，但现在 +X 的慢跑会产生 -Y 的运动，+Y 会产生 -X 的运动。

其他信息

没有反应

米奇布拉德利

如果从 Y 轴方向引脚规范中删除 :low 会怎样？

米奇布拉德利

在coreXY中，X运动是电机A+电机B，而Y运动是电机A-电机B。Y方向引脚上的:low反转电机B的方向，相当于把A+B变成A+(-B ) 即 AB，因此交换 X 和 Y。

本例中的电机 A 为 X 轴电机，电机 B 为 Y 轴电机。

德利昂

到一半了。+X 中的慢跑现在在 -X 中移动，+Y 中的慢跑现在（正确）在 +Y 中移动。

米奇布拉德利

你可以试试 :low 两者。用数学方法解决它可能是可能的，但尝试有限数量的可能性可能更容易。

培养

这是我如何解决的。

一次手动转动一个电机，同时牢牢握住另一个电机，直到末端执行器在正 X 和 Y（45 度）方向移动。记住你转动了哪个电机以及你转动它的方向。

不发送像这样的小慢跑$J=G91 G21 X5 Y5 F200

你想让电机做你手动做的同样的事情。

如果错误的电机移动，交换电机
如果正确的电机移动，但错误的方式则更改该电机的方向属性（：高与：低）。
重新启动并再次测试。

如果该慢跑有效，则尝试向其他方向慢跑。如果那不对，唯一可能出错的就是另一个电机的方向。

德利昂

多亏了你们俩，我设法通过反复试验使其工作。

我只是尝试归位，但是 X 和 Y 分别在 +X 和 +Y 方向归位 – 远离我的限位开关。有关设置，请参阅我的照片。当我在 X 回家时，托架向右移动，当我在 Y 回家时，伺服器在顶端的一侧远离我。

我尝试将 limit_neg_pin 切换为 limit_pos_pin，并将 positive_direction: false 切换为 positive_direction: true，但方向不知何故保持不变？

新配置：

board: MKS-DLC32 V2.1
name: Plottergeist
meta: (21.11.2022) by thedevleon

kinematics:
  corexy:

stepping:
  engine: I2S_STATIC
  idle_ms: 0
  pulse_us: 4
  dir_delay_us: 1
  disable_delay_us: 0


axes:
  shared_stepper_disable_pin: I2SO.0

  x:
    steps_per_mm: 157.750
    max_rate_mm_per_min: 500.000
    acceleration_mm_per_sec2: 200.000
    max_travel_mm: 500.000
    soft_limits: false
    homing:
      cycle: 1
      positive_direction: true
      mpos_mm: 0.000
      feed_mm_per_min: 100.000
      seek_mm_per_min: 200.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100

    motor0:
      limit_pos_pin: gpio.36:low
      hard_limits: false
      pulloff_mm: 2.000
      stepstick:
        step_pin: I2SO.1
        direction_pin: I2SO.2:low

  y:
    steps_per_mm: 157.750
    max_rate_mm_per_min: 500.000
    acceleration_mm_per_sec2: 200.000
    max_travel_mm: 350.000
    soft_limits: false
    homing:
      cycle: 1
      positive_direction: true
      mpos_mm: 0.000
      feed_mm_per_min: 100.000
      seek_mm_per_min: 200.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100

    motor0:
      limit_pos_pin: gpio.35:low
      hard_limits: false
      pulloff_mm: 2.000
      stepstick:
        step_pin: I2SO.5
        direction_pin: I2SO.6:low

  z:
    steps_per_mm: 100
    max_rate_mm_per_min: 5000
    acceleration_mm_per_sec2: 300
    max_travel_mm: 10
    homing:
      cycle: 1
      mpos_mm: 0
      positive_direction: true

    motor0:
      rc_servo:
        pwm_hz: 50
        output_pin: gpio.22
        min_pulse_us: 1000
        max_pulse_us: 2000

i2so:
  bck_pin: gpio.16
  data_pin: gpio.21
  ws_pin: gpio.17

spi:
  miso_pin: gpio.12
  mosi_pin: gpio.13
  sck_pin: gpio.14

sdcard:
  cs_pin: gpio.15
  card_detect_pin: NO_PIN

control:
  safety_door_pin: NO_PIN
  reset_pin: NO_PIN
  feed_hold_pin: NO_PIN
  cycle_start_pin: NO_PIN
  macro0_pin: NO_PIN
  macro1_pin: NO_PIN
  macro2_pin: NO_PIN
  macro3_pin: NO_PIN

macros:
  startup_line0:
  startup_line1:
  macro0:
  macro1:
  macro2:
  macro3:

coolant:
  flood_pin: NO_PIN
  mist_pin: NO_PIN
  delay_ms: 0

probe:
  pin: NO_PIN
  check_mode_start: true

# Laser:
#   pwm_hz: 5000
#   #L on Beeper / IN on TTL
#   output_pin: gpio.32
#   enable_pin: I2SO.7
#   disable_with_s0: false
#   s0_with_disable: false
#   tool_num: 0
#   speed_map: 0=0.000% 0=12.500% 1700=100.000%
# 135=0mA 270=5mA 400=10mA 700=16mA


user_outputs:
  analog0_pin: NO_PIN
  analog1_pin: NO_PIN
  analog2_pin: NO_PIN
  analog3_pin: NO_PIN
  analog0_hz: 5000
  analog1_hz: 5000
  analog2_hz: 5000
  analog3_hz: 5000
  digital0_pin: NO_PIN
  digital1_pin: NO_PIN
  digital2_pin: NO_PIN
  digital3_pin: NO_PIN

start:
  must_home: false

# 5,18,19,22,23,25,26,27,32,33,39,I2SO.7
# SDA 0 / SCL 4

德利昂

我看到最新的固件解决了这个bug，现在刷机后可以正常使用了。最终配置：

board: MKS-DLC32 V2.1
name: Plottergeist
meta: (21.11.2022) by thedevleon

kinematics:
  corexy:

stepping:
  engine: I2S_STATIC
  idle_ms: 0
  pulse_us: 4
  dir_delay_us: 1
  disable_delay_us: 0


axes:
  shared_stepper_disable_pin: I2SO.0

  x:
    steps_per_mm: 157.750
    max_rate_mm_per_min: 500.000
    acceleration_mm_per_sec2: 200.000
    max_travel_mm: 500.000
    soft_limits: false
    homing:
      cycle: 1
      positive_direction: false
      mpos_mm: 0.000
      feed_mm_per_min: 100.000
      seek_mm_per_min: 200.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100

    motor0:
      limit_neg_pin: gpio.36:low
      hard_limits: false
      pulloff_mm: 2.000
      stepstick:
        step_pin: I2SO.1
        direction_pin: I2SO.2:low

  y:
    steps_per_mm: 157.750
    max_rate_mm_per_min: 500.000
    acceleration_mm_per_sec2: 200.000
    max_travel_mm: 350.000
    soft_limits: false
    homing:
      cycle: 1
      positive_direction: false
      mpos_mm: 0.000
      feed_mm_per_min: 100.000
      seek_mm_per_min: 200.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100

    motor0:
      limit_neg_pin: gpio.35:low
      hard_limits: false
      pulloff_mm: 2.000
      stepstick:
        step_pin: I2SO.5
        direction_pin: I2SO.6:low

  z:
    steps_per_mm: 100
    max_rate_mm_per_min: 5000
    acceleration_mm_per_sec2: 300
    max_travel_mm: 10
    homing:
      cycle: 1
      mpos_mm: 0
      positive_direction: true

    motor0:
      rc_servo:
        pwm_hz: 50
        output_pin: gpio.22
        min_pulse_us: 1000
        max_pulse_us: 2000

i2so:
  bck_pin: gpio.16
  data_pin: gpio.21
  ws_pin: gpio.17

spi:
  miso_pin: gpio.12
  mosi_pin: gpio.13
  sck_pin: gpio.14

sdcard:
  cs_pin: gpio.15
  card_detect_pin: NO_PIN

control:
  safety_door_pin: NO_PIN
  reset_pin: NO_PIN
  feed_hold_pin: NO_PIN
  cycle_start_pin: NO_PIN
  macro0_pin: NO_PIN
  macro1_pin: NO_PIN
  macro2_pin: NO_PIN
  macro3_pin: NO_PIN

macros:
  startup_line0:
  startup_line1:
  macro0:
  macro1:
  macro2:
  macro3:

coolant:
  flood_pin: NO_PIN
  mist_pin: NO_PIN
  delay_ms: 0

probe:
  pin: NO_PIN
  check_mode_start: true

# Laser:
#   pwm_hz: 5000
#   #L on Beeper / IN on TTL
#   output_pin: gpio.32
#   enable_pin: I2SO.7
#   disable_with_s0: false
#   s0_with_disable: false
#   tool_num: 0
#   speed_map: 0=0.000% 0=12.500% 1700=100.000%
# 135=0mA 270=5mA 400=10mA 700=16mA


user_outputs:
  analog0_pin: NO_PIN
  analog1_pin: NO_PIN
  analog2_pin: NO_PIN
  analog3_pin: NO_PIN
  analog0_hz: 5000
  analog1_hz: 5000
  analog2_hz: 5000
  analog3_hz: 5000
  digital0_pin: NO_PIN
  digital1_pin: NO_PIN
  digital2_pin: NO_PIN
  digital3_pin: NO_PIN

start:
  must_home: false

# 5,18,19,22,23,25,26,27,32,33,39,I2SO.7
# SDA 0 / SCL 4

thedevleon已完成关闭 2022 年 11 月 24 日

问题：如何设置CoreXY DrawBot？#719

评论

控制板