TMC2209 电机初始化问题 #722

J哈丁86

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机器描述

CO2激光雕刻机。3 轴 x、y、z 所有单电机。微动开关限位器

输入电路

没有反应

配置文件

board: FluidNC 4X 2209
name: TMC2209 XYZ  Laser
meta: 2022-08-09 B. Dring for James Harding 340638
stepping:
  engine: I2S_static
  idle_ms: 255
  pulse_us: 4
  dir_delay_us: 1
  disable_delay_us: 0
  segments: 12

axes:
  shared_stepper_disable_pin: NO_PIN
  shared_stepper_reset_pin: NO_PIN
  x:
    steps_per_mm: 177.800
    max_rate_mm_per_min: 18000.000
    acceleration_mm_per_sec2: 1500.000
    max_travel_mm: 750.000
    soft_limits: false
    homing:
      cycle: 1
      allow_single_axis: true
      positive_direction: false
      mpos_mm: 0.000
      feed_mm_per_min: 240.000
      seek_mm_per_min: 3000.000
      settle_ms: 250
      seek_scaler: 1.100
      feed_scaler: 1.100

    motor0:
      limit_neg_pin: gpio.36
      limit_pos_pin: NO_PIN
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 5.000
      tmc_2209:
        run_mode: CoolStep
        homing_mode: CoolStep
        stallguard: 0
        stallguard_debug: false
        toff_coolstep: 3
        step_pin: I2SO.2
        direction_pin: I2SO.1:low
        disable_pin: I2SO.0
        r_sense_ohms: 0.110
        run_amps: 2.000
        hold_amps: 2.000
        microsteps: 64
        toff_disable: 0
        toff_stealthchop: 5
        use_enable: false
        addr: 0
        uart:
          txd_pin: gpio.16
          rxd_pin: gpio.4
          rts_pin: NO_PIN
          cts_pin: NO_PIN
          baud: 115200
          mode: 8N1

  y:
    steps_per_mm: 106.670
    max_rate_mm_per_min: 12000.000
    acceleration_mm_per_sec2: 1500.000
    max_travel_mm: 410.000
    soft_limits: false
    homing:
      cycle: 1
      allow_single_axis: true
      positive_direction: false
      mpos_mm: 0.000
      feed_mm_per_min: 240.000
      seek_mm_per_min: 3000.000
      settle_ms: 250
      seek_scaler: 1.100
      feed_scaler: 1.100

    motor0:
      limit_neg_pin: gpio.39
      limit_pos_pin: NO_PIN
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 10.000
      tmc_2209:
        run_mode: CoolStep
        homing_mode: CoolStep
        stallguard: 0
        stallguard_debug: false
        toff_coolstep: 3
        step_pin: I2SO.5
        direction_pin: I2SO.4
        disable_pin: I2SO.7
        r_sense_ohms: 0.110
        run_amps: 2.000
        hold_amps: 2.000
        microsteps: 32
        toff_disable: 0
        toff_stealthchop: 5
        use_enable: false
        addr: 1

  z:
    steps_per_mm: 400.000
    max_rate_mm_per_min: 200.000
    acceleration_mm_per_sec2: 25.000
    max_travel_mm: 200.000
    soft_limits: false
    homing:
      cycle: 2
      allow_single_axis: true
      positive_direction: false
      mpos_mm: 0.000
      feed_mm_per_min: 100.000
      seek_mm_per_min: 200.000
      settle_ms: 250
      seek_scaler: 1.100
      feed_scaler: 1.100

    motor0:
      limit_neg_pin: gpio.34
      limit_pos_pin: NO_PIN
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 6.000
      tmc_2209:
        run_mode: CoolStep
        homing_mode: CoolStep
        stallguard: 0
        stallguard_debug: false
        toff_coolstep: 3
        step_pin: I2SO.10
        direction_pin: I2SO.9
        disable_pin: I2SO.8
        r_sense_ohms: 0.110
        run_amps: 2.000
        hold_amps: 1.000
        microsteps: 16
        toff_disable: 0
        toff_stealthchop: 5
        use_enable: false
        addr: 2

kinematics:
  Cartesian:

i2so:
  bck_pin: gpio.22
  data_pin: gpio.21
  ws_pin: gpio.17

spi:
  miso_pin: gpio.19
  mosi_pin: gpio.23
  sck_pin: gpio.18

sdcard:
  cs_pin: NO_PIN
  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

coolant:
  flood_pin: gpio.25
  mist_pin: NO_PIN
  delay_ms: 5000

probe:
  pin: NO_PIN
  check_mode_start: true

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

start:
  must_home: true
  deactivate_parking: false
  check_limits: false

parking:
  enable: false
  axis: Z
  target_mpos_mm: -5.000
  rate_mm_per_min: 800.000
  pullout_distance_mm: 5.000
  pullout_rate_mm_per_min: 250.000

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

arc_tolerance_mm: 0.002
junction_deviation_mm: 0.010
verbose_errors: false
report_inches: false
enable_parking_override_control: false
use_line_numbers: false
planner_blocks: 16
Laser:
  pwm_hz: 5000
  output_pin: gpio.26
  enable_pin: NO_PIN
  disable_with_s0: false
  s0_with_disable: true
  tool_num: 0
  speed_map: 0=0.000% 200=3.000% 500=21.000% 1000=100.000%
  off_on_alarm: false

启动消息

[MSG:INFO: FluidNC v3.6.4-pre3]
[MSG:INFO: Compiled with ESP32 SDK:v4.4.1-1-gb8050b365e]
[MSG:INFO: Local filesystem type is spiffs]
[MSG:INFO: Configuration file:laser.yaml]
[MSG:INFO: Machine TMC2209 XYZ  Laser]
[MSG:INFO: Board FluidNC 4X 2209]
[MSG:INFO: I2SO BCK:gpio.22 WS:gpio.17 DATA:gpio.21]
[MSG:INFO: SPI SCK:gpio.18 MOSI:gpio.23 MISO:gpio.19]
[MSG:INFO: No SD Card CS Pin]
[MSG:INFO: See http://wiki.fluidnc.com/en/config/sd_card#sdfallbackcs-access-sd-without-a-config-file]
[MSG:INFO: Stepping:I2S_static Pulse:4us Dsbl Delay:0us Dir Delay:1us Idle Delay:255ms]
[MSG:INFO: Axis count 3]
[MSG:INFO: Axis X (0.000,750.000)]
[MSG:INFO:   Motor0]
[MSG:INFO: Trinamic Stepper Uart Tx:gpio.16 Rx:gpio.4 RTS:NO_PIN Baud:115200]
[MSG:INFO:     tmc_2209 Step:I2SO.2 Dir:I2SO.1:low Disable:I2SO.0 Addr:0 R:0.110]
[MSG:INFO:  X Neg Limit gpio.36]
[MSG:INFO: Axis Y (0.000,410.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     tmc_2209 Step:I2SO.5 Dir:I2SO.4 Disable:I2SO.7 Addr:1 R:0.110]
[MSG:INFO:  Y Neg Limit gpio.39]
[MSG:INFO: Axis Z (0.000,200.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     tmc_2209 Step:I2SO.10 Dir:I2SO.9 Disable:I2SO.8 Addr:2 R:0.110]
[MSG:INFO:  Z Neg Limit gpio.34]
[MSG:INFO: X Axis driver test passed]
[MSG:INFO: Y Axis driver test passed]
[MSG:INFO: Z Axis driver test passed]
[MSG:INFO: Kinematic system: Cartesian]
[MSG:INFO: Laser Ena:NO_PIN Out:gpio.26 Freq:5000Hz Period:8191]
[MSG:INFO: Using spindle Laser]
[MSG:INFO: Flood coolant gpio.25]
[MSG:INFO: WiFi is disabled]

用户界面软件

Lightburn 1.2.04

发生了什么？

我的 4 轴板使用外部 24v 电源。
我通过为 ESP32 供电的 USB 传输我的 gcode。

为了让 4 轴板正常工作，我必须关闭 24v 电源并断开 USB 电缆与笔记本电脑的连接。然后我可以打开 24v 电源等待几秒钟，然后将 USB 插入我的笔记本电脑。

如果我不按此顺序加电，步数/毫米是最明显的错误，因为 x 和 y 轴在命令非常小的移动时会产生巨大的移动。

我希望能够让我的 USB 数据线保持插入状态，然后只打开机器电源。

其他信息

没有反应

阿尔瓦罗托里亚诺

这似乎不是固件问题。你用的是什么板？你能分享或参考原理图吗？
例如，您是否尝试使用降压转换器使用相同的电压为 ESP 供电？

J哈丁86

我的董事会与问题有关。我从@bdring

培养

这是正常行为。如果先通过 USB 供电，电机驱动器将不会响应。他们需要电机电压来做任何事情。如果稍后施加电机电压，它们将工作，但只能使用默认设置，因为电机配置阶段已经过去。这是 ESP32 模块的限制。没有办法强制它仅由电机电压供电。

如果您仅通过 USB 运行并按下 ESP32 模块上的重置按钮，您将能够看到这一点。

您可以向电机发送$Motors/Init或$MI随时重新发送配置信息。当然，电机电源必须打开才能工作。

我在 wiki 中添加了关于此的注释。

http://wiki.fluidnc.com/en/hardware/official/TMC2209_4_Axis

bdring 更改了标题 ~~问题：~~ TMC2209 电机初始化问题 2022 年 11 月 27 日

MitchBradley按计划关闭了它不会修复，无法复制，复制，陈旧2022 年 12 月 3 日

TMC2209 电机初始化问题#722

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