问题：当 X 轴寻找原点时，Y 轴电机一直驱动到限位开关 #721

保罗上校

控制板

MKS 小蜜蜂

机器描述

4轴双Y轴电机龙门架（XYYZA）

输入电路

1 limit switch on Y with 2 DM556 drivers for Y using separate IO pins (e.g. 2 DM556s are not wired in parallel but controlled with unique io pins)

配置文件

board: MKS TinyBee V1.0_001
name: CNC Router XYZ no spindle
meta: (01.02.2022) by Skorpi

kinematics:
  Cartesian:

stepping:
  engine: I2S_STATIC
  idle_ms: 255
  pulse_us: 4
  dir_delay_us: 1
  disable_delay_us: 0

axes:
  x:
    # X
    steps_per_mm: 250
    max_rate_mm_per_min: 5250.000
    acceleration_mm_per_sec2: 300.000
    max_travel_mm: 1300.000
    soft_limits: false
    homing:
      cycle: 2
      positive_direction: false
      mpos_mm: 0.000
      feed_mm_per_min: 300.000
      seek_mm_per_min: 2000.000
      settle_ms: 250
      seek_scaler: 1.100
      feed_scaler: 1.100

    motor0:
      limit_neg_pin: gpio.33:low
      hard_limits: true
      pulloff_mm: 2.500
      standard_stepper:
        step_pin: I2SO.1
        direction_pin: I2SO.2:low
        disable_pin: I2SO.0

  y:
    # Y
    steps_per_mm: 250
    max_rate_mm_per_min: 5250.000
    acceleration_mm_per_sec2: 300.000
    max_travel_mm: 1300.000
    soft_limits: false
    homing:
      cycle: 2
      positive_direction: false
      mpos_mm: 0.000
      feed_mm_per_min: 300.000
      seek_mm_per_min: 2000.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100

    motor0:
      limit_neg_pin: gpio.32:low
      hard_limits: true
      pulloff_mm: 2.000
      standard_stepper:
        step_pin: I2SO.4
        direction_pin: I2SO.5:low
        disable_pin: I2SO.3
    motor1:
      limit_neg_pin: NO_PIN
      #hard_limits: false
      pulloff_mm: 2.000
      standard_stepper:
        step_pin: I2SO.7
        direction_pin: I2SO.8:low
        disable_pin: I2SO.6
 
  z:
    # Z
    steps_per_mm: 250
    max_rate_mm_per_min: 5250.000
    acceleration_mm_per_sec2: 300.000
    max_travel_mm: 1300.000
    soft_limits: false
    homing:
      cycle: 1
      positive_direction: true
      mpos_mm: 0.000
      feed_mm_per_min: 100.000
      seek_mm_per_min: 1000.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100

    motor0:
      limit_neg_pin: gpio.22:low
      hard_limits: true
      pulloff_mm: 1.000
      standard_stepper:
        step_pin: I2SO.10
        direction_pin: I2SO.11
        disable_pin: I2SO.9

  a:
    # Rotary
    steps_per_mm: 26.666666666666
    max_rate_mm_per_min: 18000.000
    acceleration_mm_per_sec2: 1500.000
    max_travel_mm: 325.000
    soft_limits: false
#    homing:
#      cycle: 1
#      positive_direction: false
#      mpos_mm: 0.000
#      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_neg_pin: gpio.35
      hard_limits: false
#      pulloff_mm: 2.000
      standard_stepper:
        step_pin: I2SO.13
        direction_pin: I2SO.14
        disable_pin: I2SO.12

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
  
control:
  safety_door_pin: NO_PIN
  reset_pin: NO_PIN
  feed_hold_pin: gpio.39:low:pu
  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: gpio.2
#  check_mode_start: true

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

 # USB  TX0(1)  RX0(3)
 # J3-> TX2(17) RX2(16)
 # J1-> I2SO.23 I2SO.22
 # TH1(36)        TH2(34)        THB(39)
 # HE0(I2SO.17)   HE1(I2SO.18)   HBED(I2SO.16)
 # FAN1(I2SO.19)  FAN2(I2SO.20)
 #                   EXP1                                   EXP2
 #(BEEPER) I2SO.21 | 1  2 | 13 (BTN_ENC)    (SPI MISO) 19 | 1  2 | 18 (SPI SCK)
 #    (LCD_EN)  21 | 3  4 |  4 (LCD_RS)      (BTN_EN1) 14 | 3  4 |  5 (SPI CS)
 #    (LCD_D4)   0 | 5  6   16 (LCD_D5)      (BTN_EN2) 12 | 5  6   23 (SPI MOSI)
 #    (LCD_D6)  15 | 7  8 | 17 (LCD_D7)      (SPI_DET) 34 | 7  8 | RESET
 #             GND | 9 10 | 5V                        GND | 9 10 | 3.3V

启动消息

Resetting MCU
ets Jun  8 2016 00:22:57

rst:0x1 (POWERON_RESET),boot:0x1b (SPI_FAST_FLASH_BOOT)
configsip: 0, SPIWP:0xee
clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00
mode:DIO, clock div:1
load:0x3fff0030,len:1184
load:0x40078000,len:12812
load:0x40080400,len:3032
entry 0x400805e4

[MSG:INFO: FluidNC v3.6.4]
[MSG:INFO: Compiled with ESP32 SDK:v4.4.1-1-gb8050b365e]
[MSG:INFO: Local filesystem type is spiffs]
[MSG:INFO: Configuration file:MKS_TinyBee_1_XYZAB.yaml]
[MSG:WARN: gpio.39:low does not support :pu attribute]
[MSG:DBG: Running after-parse tasks]
[MSG:DBG: Checking configuration]
[MSG:INFO: Machine CNC Router XYZ no spindle]
[MSG:INFO: Board MKS TinyBee V1.0_001]
[MSG:INFO: I2SO BCK:gpio.25 WS:gpio.26 DATA:gpio.27]
[MSG:INFO: SPI SCK:gpio.18 MOSI:gpio.23 MISO:gpio.19]
[MSG:INFO: SD Card cs_pin:gpio.5 detect:NO_PIN]
[MSG:INFO: Stepping:I2S_static Pulse:4us Dsbl Delay:0us Dir Delay:1us Idle Delay:255ms]
[MSG:INFO: Axis count 4]
[MSG:INFO: Axis X (0.000,1300.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     standard_stepper Step:I2SO.1 Dir:I2SO.2:low Disable:I2SO.0]
[MSG:INFO:  X Neg Limit gpio.33:low]
[MSG:DBG:  X Neg Limit 0]
[MSG:INFO: Axis Y (0.000,1300.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     standard_stepper Step:I2SO.4 Dir:I2SO.5:low Disable:I2SO.3]
[MSG:INFO:  Y Neg Limit gpio.32:low]
[MSG:DBG:  Y Neg Limit 0]
[MSG:INFO:   Motor1]
[MSG:INFO:     standard_stepper Step:I2SO.7 Dir:I2SO.8:low Disable:I2SO.6]
[MSG:INFO: Axis Z (-1300.000,0.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     standard_stepper Step:I2SO.10 Dir:I2SO.11 Disable:I2SO.9]
[MSG:INFO:  Z Neg Limit gpio.22:low]
[MSG:DBG:  Z Neg Limit 0]
[MSG:INFO: Axis A (-325.000,0.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     standard_stepper Step:I2SO.13 Dir:I2SO.14 Disable:I2SO.12]
[MSG:INFO: feed_hold_pin gpio.39:low]
[MSG:INFO: Kinematic system: Cartesian]
[MSG:INFO: Using spindle NoSpindle]
[MSG:INFO: Connecting to STA SSID:RounsavallWPA2]
[MSG:INFO: Connecting.]
[MSG:INFO: Connected - IP is 192.168.0.235]
[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]

Grbl 3.6 [FluidNC v3.6.4 (wifi) '$' for help]
[MSG:DBG:  X Neg Limit 0]
[MSG:DBG:  Y Neg Limit 0]
[MSG:DBG:  Z Neg Limit 0]
ok
[MSG:DBG: Homing Cycle Z]
[MSG:DBG: Homing nextPhase FastApproach]
[MSG:DBG: Starting from 0.000,0.000,0.000]
[MSG:DBG: Planned move to 0.000,0.000,1430.000 @ 1000.000]
[MSG:DBG:  Z Neg Limit 1]
[MSG:DBG: Homing limited Z]
[MSG:DBG: Homing nextPhase Pulloff0]
[MSG:DBG: Starting from 0.000,0.000,51.196]
[MSG:DBG: Planned move to 0.000,0.000,50.196 @ 100.000]
[MSG:DBG:  Z Neg Limit 0]
[MSG:DBG: CycleStop Pulloff0]
[MSG:DBG: Homing nextPhase SlowApproach]
[MSG:DBG: Starting from 0.000,0.000,50.196]
[MSG:DBG: Planned move to 0.000,0.000,51.296 @ 100.000]
[MSG:DBG:  Z Neg Limit 1]
[MSG:DBG: Homing limited Z]
[MSG:DBG: Homing nextPhase Pulloff1]
[MSG:DBG: Starting from 0.000,0.000,51.000]
[MSG:DBG: Planned move to 0.000,0.000,50.000 @ 100.000]
[MSG:DBG:  Z Neg Limit 0]
[MSG:DBG: CycleStop Pulloff1]
[MSG:DBG: Homing nextPhase Pulloff2]
[MSG:DBG: mpos was 0.000,0.000,50.000]
[MSG:DBG: mpos becomes 0.000,0.000,0.000]
[MSG:DBG: mpos transformed 0.000,0.000,0.000]
[MSG:DBG: Homing Cycle XY]
[MSG:DBG: Homing nextPhase FastApproach]
[MSG:DBG: Starting from 0.000,0.000,0.000]
[MSG:DBG: Planned move to -1430.000,-1430.000,0.000 @ 2828.427]
[MSG:DBG:  Y Neg Limit 1]
[MSG:DBG: Homing limited Y Y2]
[MSG:DBG:  X Neg Limit 1]
[MSG:DBG: Homing limited X Y Y2]
[MSG:DBG: Homing nextPhase Pulloff0]
[MSG:DBG: Starting from -152.608,-102.136,0.000]
[MSG:DBG: Planned move to -150.108,-100.136,0.000 @ 424.264]
[MSG:DBG:  X Neg Limit 0]
[MSG:DBG:  Y Neg Limit 0]
[MSG:DBG: CycleStop Pulloff0]
[MSG:DBG: Homing nextPhase SlowApproach]
[MSG:DBG: Starting from -150.108,-100.136,0.000]
[MSG:DBG: Planned move to -152.858,-102.336,0.000 @ 424.264]
[MSG:DBG:  Y Neg Limit 1]
[MSG:DBG: Homing limited Y Y2]
[MSG:DBG:  X Neg Limit 1]
[MSG:DBG: Homing limited X Y Y2]
[MSG:DBG: Homing nextPhase Pulloff1]
[MSG:DBG: Starting from -152.504,-101.976,0.000]
[MSG:DBG: Planned move to -150.004,-99.976,0.000 @ 424.264]
[MSG:DBG:  X Neg Limit 0]
[MSG:DBG:  Y Neg Limit 0]
[MSG:DBG: CycleStop Pulloff1]
[MSG:DBG: Homing nextPhase Pulloff2]
[MSG:DBG: mpos was -150.004,-99.976,0.000]
[MSG:DBG: mpos becomes 0.000,0.000,0.000]
[MSG:DBG: mpos transformed 0.000,0.000,0.000]
[MSG:DBG: Homing done]
ok

用户界面软件

Fluidterm 和 CNCjs

发生了什么？

我在归位后手动移动到 X150 Y100 Z-50，这样 X 轴在归位时必须比 Y 移动更长的距离。我重置 (WebGUI) Tinybee，然后执行归巢循环。X 和 Y 都是归位周期 2。正如预期的那样，Y 首先到达限位开关并且 Y 继续驱动（摩擦噪音）直到 X 触及归位开关。在那之后，他们都倒退，慢慢寻找开关然后拉回来。一旦 Y 触及 Y 限位开关，我希望 Y 轴停止驱动，但听起来并没有发生这种情况。

我颠倒了条件，使 Y 必须比 X 行驶得更远，并且一切正常（X 在等待 Y 找到开关时退出驾驶）。这让我相信这与我目前只有 1 个电机的 1 个 Y 限位开关有关。我的目标是为另一个 Y 电机添加另一个限位开关并执行轴平方，但我还没有做到。我尝试将相同的 Y 限位开关引脚 (gpio.32:low) 添加到 motor1 但收到错误消息 ([MSG:ERR: Configuration error at /machine/axes/y/motor1: ERR: gpio.32:low – Pin已被使用。])。

其他信息

没有反应

培养

尝试使用此版本。

https://github.com/bdring/FluidNC/releases/tag/v3.6.5-pre4

它有一些修复，可以同时归位 2 个轴。如果它不起作用，我们宁愿调试该固件版本。

确保为归位测试发送相同的调试文本。

保罗上校

我通过 WebGUI 更新到 v3.6.5-pre4。下面是调试日志。我的理论是，第二个电机（带有 limit_neg_pin: NO_PIN）仍在驱动，直到触发 X 限制。我确认 Y 轴是方形的。移至 X150Y100，然后重新安置。我用游标卡尺测量了前后的正方形。没有开关的电机现在偏离了几毫米。

ets 2016 年 6 月 8 日 00:22:57

rst：0xc（SW_CPU_RESET），boot：0x1b（SPI_FAST_FLASH_BOOT）
configsip：0，SPIWP：0xee
clk_drv：0x00，q_drv：0x00，d_drv：0x00，cs0_drv：0x00，hd_drv：0x00，wp_drv：0x00
模式：DIO，时钟div 1
负载：0x3fff0030，len：1184
负载：0x40078000，len：12812
负载：0x40080400，len：3032
条目 0x400805e4

[MSG:INFO: FluidNC v3.6.5-pre4]
[MSG:INFO: Compiled with ESP32 SDK:v4.4.1-1-gb8050b365e]
[MSG:INFO: Local filesystem type is spiffs]
[MSG:INFO: 配置文件：MKS_TinyBee_1_XYZAB .yaml]
[MSG:DBG: Running after-parse tasks]
[MSG:DBG: Checking configuration]
[MSG:INFO: Machine CNC Router XYZ no spindle]
[MSG:INFO: Board MKS TinyBee V1.0_001]
[MSG:INFO ：I2SO BCK:gpio.25 WS:gpio.26 DATA:gpio.27]
[MSG:INFO: SPI SCK:gpio.18 MOSI:gpio.23 MISO:gpio.19]
[MSG:INFO: SD Card cs_pin:gpio .5 检测：NO_PIN]
[MSG:INFO: Stepping:I2S_static Pulse:4us Dsbl Delay:0us Dir Delay:1us Idle Delay:255ms]
[MSG:INFO: Axis count 4]
[MSG:INFO: Axis X (0.000,1300.000 )]
[MSG:INFO: Motor0]
[MSG:INFO: standard_stepper Step:I2SO.1 Dir:I2SO.2:low Disable:I2SO.0]
[MSG:INFO: X Neg Limit gpio.33:low]
[MSG:DBG: X Neg Limit 0]
[MSG:INFO: Y 轴 (0.000,1300.000)]
[MSG:INFO: Motor0]
[MSG:INFO: standard_stepper Step:I2SO.4 Dir:I2SO.5:low Disable:I2SO.3]
[ MSG:INFO: Y Neg Limit gpio.32:low]
[MSG:DBG: Y Neg Limit 0]
[MSG:INFO: Motor1]
[MSG:INFO: standard_stepper Step:I2SO.7 Dir:I2SO.8:low 禁用： I2SO.6]
[MSG:INFO: Z 轴 (-200.000,100.000)]
[MSG:INFO: Motor0]
[MSG:INFO: standard_stepper Step:I2SO.10 Dir:I2SO.11 Disable:I2SO.9]
[MSG: INFO: Z Neg Limit gpio.22:low]
[MSG:DBG: Z Neg Limit 0]
[MSG:INFO: Axis A (-325.000,0.000)]
[MSG:INFO: Motor0]
[MSG:INFO: standard_stepper Step:I2SO.13 Dir:I2SO.14 Disable:I2SO.12]
[MSG:INFO: feed_hold_pin gpio .39:low]
[MSG:INFO: 运动系统：笛卡尔]
[MSG:INFO: 使用主轴 NoSpindle]
[MSG:INFO: Flood coolant I2SO.20]
[MSG:INFO: Mist coolant I2SO.19]
[MSG:INFO ：探测引脚：gpio.36:low]
[MSG:INFO: 连接到 STA SSID:RounsavallWPA2]
[MSG:INFO: 正在连接。]
[MSG:INFO: 已连接 – IP 为 192.168.0.235]
[MSG:INFO: WiFi 打开]
[MSG:INFO: Start mDNS with hostname:http://fluidnc.local/%5D
[MSG:INFO: SSDP Started]
[MSG:INFO: HTTP started on port 80]
[MSG:INFO: Telnet 在端口 23 上启动]

Grbl 3.6 [FluidNC v3.6.5-pre4 (wifi) ‘$’ 寻求帮助]
[MSG:DBG: X Neg Limit 0]
[MSG:DBG: Y Neg Limit 0]
[MSG:DBG: Z Neg Limit 0]
[MSG :DBG: WebSocket 0 from 192.168.0.230 uri /]
[MSG:DBG: Homing Cycle Z]
[MSG:DBG: Homing nextPhase FastApproach]
[MSG:DBG: Starting from 0.000,0.000,0.000]
[MSG:DBG: Planned move到 0.000,0.000,330.000 @ 1000.000]
[MSG:DBG: Z Neg Limit 1]
[MSG:DBG: Homing limited Z]
[MSG:DBG: Homing nextPhase Pulloff0]
[MSG:DBG: Starting from 0.000,0.000,68.648]
[MSG:DBG: 计划移动到 0.000,0.000,67.148 @ 100.000]
[MSG:DBG: Z Neg Limit 0]
[MSG:DBG: CycleStop Pulloff0]
[MSG:DBG: Homing nextPhase SlowApproach]
[MSG:DBG: Starting from 0.000,0.000,67.148]
[MSG:DBG: Planned move to 0.000,0.000,68.798 @ 100.000]
[MSG:DBG: Z Neg Limit 1]
[MSG:DBG: Homing limited Z]
[MSG :DBG: Homing nextPhase Pulloff1]
[MSG:DBG: Starting from 0.000,0.000,68.452]
[MSG:DBG: Planned move to 0.000,0.000,66.952 @ 100.000]
[MSG:DBG: Z Neg Limit 0]
[MSG:DBG : CycleStop Pulloff1]
[MSG:DBG: Homing nextPhase Pulloff2]
[MSG:DBG: mpos 为 0.000,0.000,66.952]
[MSG:DBG: mpos 变为 0.000,0.000,100.000]
[MSG:DBG: mpos 转换为 0.000,0.000, 100.000]
[MSG:DBG: 归位周期 XY]
[MSG:DBG: 归位下一阶段 FastApproach]
[MSG:DBG: 从 0.000,0.000,100.000 开始]
[MSG:DBG: 计划移至 -1430.000,-1430.000,100.000 @ 2828.427]
[MSG:DBG: Y Neg Limit 1]
[MSG:DBG: Homing limited Y Y2]
[MSG:DBG: X Neg Limit 1]
[MSG :DBG: Homing limited XY Y2]
[MSG:DBG: Homing nextPhase Pulloff0]
[MSG:DBG: Starting from -152.580,-102.104,100.000]
[MSG:DBG: Planned move to -150.080,-100.104,100.000 @ 424.264]
[MSG:DBG: X Neg Limit 0]
[MSG:DBG: Y Neg Limit 0]
[MSG:DBG: CycleStop Pulloff0]
[MSG:DBG: Homing nextPhase SlowApproach]
[MSG:DBG: Starting from -150.080,-100.104, 100.000]
[MSG:DBG: Planned move to -152.830,-102.304,100.000 @ 424.264]
[MSG:DBG: Y Neg Limit 1]
[MSG:DBG: Homing limited Y Y2]
[MSG:DBG: X Neg Limit 1]
[MSG:DBG: Homing limited XY Y2]
[MSG:DBG: Homing nextPhase Pulloff1]
[MSG:DBG: Starting from -152.492,-101.868,100.000]
[MSG:DBG: Planned移动到-149.992，-99.868,100.000 @ 424.264]
[MSG:DBG: X Neg Limit 0]
[MSG:DBG: Y Neg Limit 0]
[MSG:DBG: CycleStop Pulloff1]
[MSG:DBG: Homing nextPhase Pulloff2]
[ MSG:DBG: mpos 为 -149.992,-99.868,100.000]
[MSG:DBG: mpos 变为 0.000,0.000,100.000]
[MSG:DBG: mpos 转换为 0.000,0.000,100.000]
[MSG:DBG: Homing done]
ok

培养

当 Y 磨削时，两个 Y 电机都磨削吗？

保罗上校

听起来好像只有一个电机。如果我将归位周期分开，使 Y 有自己的归位周期，一切正常。可以将单个开关分配给轴还是电机？

米奇布拉德利

我已经重现了这个问题。I只发生在双电机轴只有一个开关的多轴归位时；双电机/双开关工作正常。我正在寻找解决方案。

保罗上校

谢谢。我已经添加了第二个轴开关来进行轴平方并避免了这个问题。如果需要，我很乐意恢复使用单轴开关进行故障排除或确认修复。感谢您为社区所做的一切。我喜欢开源解决方案。

米奇布拉德利

我真正想要的是有人挺身而出，成为与归巢相关的所有事物的测试者。组合的数量是荒谬的，CoreXY vs 笛卡尔 vs（未来运动学）X 单轴循环 vs 多轴循环 X 每个电机开关 vs 单开关 X pos limit vs neg limit vs pos+neg vs all limit X single pulloff vs per-motor pulloff X pre-pulloff vs no-pre-pulloff。更不用说人们刚刚正确接线开关时经常出现的问题。很少有人回馈这个项目……

保罗上校

成为测试员包括什么？如果可以，我会提供帮助，但我只有笛卡尔机器（prusa 3d 和带第 4 轴旋转的 queenbee 龙门架）。

米奇布拉德利

主要的测试涉及花时间系统地研究可能性矩阵，为每个版本或预发布生成测试报告，显示哪些按预期工作，哪些没有。大多数（如果不是全部的话）都可以只用三个裸机和一些你可以手动激活的开关来完成。事实上，这就是我开发大部分代码的方式。

您只需要了解您期望看到的情况。对于CoreXY，当两个电机运动时是单轴运动，而一个电机是对角线运动。当然，笛卡尔恰恰相反。

对于限位开关配置的各种情况，您需要配置文件。

如果你有一台代表配置的完整机器，这会稍微容易一些，但人们很快就会学会从裸机推断出发生了什么。

保罗上校

我愿意回馈，视时间需要而定。我需要从 aliexpress 购买一些电机和另一个基于 EPS_32 的电路板。董事会有什么建议吗？如果没有，我就再拿一个 TinyBee 备用。我没有任何 ESP_32 调试硬件，但听起来好像不需要。

米奇布拉德利

MKS DLC32 可能是最便宜的，Tinybee 只贵几美元。既然您已经有了 Tinybee，那是有道理的。无需调试硬件；我有它，但从未使用过它。任何电机和驱动器都可以用于测试归位。主要是你需要一些靠近安装的开关，这样你就可以用拇指同时激活两个。我有一组 4 个开关，但我通常在测试归位时一次使用 3 个。我可以重新配置以将它们放在“机器”上的不同位置。

保罗上校

罗杰。我在路上有另一个 TinyBee，还有 4 个步进器。已经放置了限位开关。

MitchBradley 添加了引用此问题的提交 2022 年 11 月 30 日

Fix #721 - multi-axis homing with dual-motor/single-switch

86dc6f6

MitchBradley 添加了引用此问题的提交 2022 年 11 月 30 日

Fix #721 - multi-axis homing with dual-motor/single-switch

6449812

MitchBradley在完成时关闭了它 2022 年 12 月 1 日

问题：当 X 轴寻找原点时，Y 轴电机一直驱动到限位开关#721

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