GRBL setup

[mojalovaa1]

Today I m start with connection ARDUNIO MEGA 2560 with 4 axis stepper driver .
Programing arduino with GRBL V0.97 .
Start with setup GRBL , but need help .

>>> $$
$0=10 (step pulse, usec)
$1=255 (step idle delay, msec)
$2=0 (step port invert mask:00000000)
$3=6 (dir port invert mask:00000110)
$4=0 (step enable invert, bool)
$5=0 (limit pins invert, bool)
$6=0 (probe pin invert, bool)
$10=3 (status report mask:00000011)
$11=0.020 (junction deviation, mm)
$12=0.002 (arc tolerance, mm)
$13=1 (report inches, bool)
$14=1 (auto start, bool)
$20=0 (soft limits, bool)
$21=0 (hard limits, bool)
$22=1 (homing cycle, bool)
$23=0 (homing dir invert mask:00000000)
$24=150.000 (homing feed, mm/min)
$25=500.000 (homing seek, mm/min)
$26=250 (homing debounce, msec)
$27=1.000 (homing pull-off, mm)
$100=40.076 (x, step/mm)
$101=40.059 (y, step/mm)
$102=40.000 (z, step/mm)
$103=8.889 (c, step/mm)
$110=35000.000 (x max rate, mm/min)
$111=35000.000 (y max rate, mm/min)
$112=20000.000 (z max rate, mm/min)
$113=40000.000 (c max rate, mm/min)
$120=7000.000 (x accel, mm/sec^2)
$121=7000.000 (y accel, mm/sec^2)
$122=2500.000 (z accel, mm/sec^2)
$123=4000.000 (c accel, mm/sec^2)
$130=556.000 (x max travel, mm)
$131=380.000 (y max travel, mm)
$132=40.000 (z max travel, mm)
$133=360.000 (c max travel, mm)
ok

For homing switch use X, Y, Z home switch connected on serial connection  , and for X and Y limit switch I use parallel connected switch .
I m enter that settings but when I try with hend command  not start stepper .
What I m make wrong?

[mojalovaa1]

Pinout :

X step -D2
X dir -D23
Y step - D24
Y dir - D 25
Z step - D26
Z dir -D27
R step - D28
R dir - D9
Step enable - D30
X lim - D31
Y lim - D32
Z lim - NC
Home - D34 (  x home , y home and z home connected on serial )
Cam. down light - D35
Cam up light - D36
Vacuum pump - D 37
Advancer step - D42
Advancer  dir - D43
Advancer lim - D44
LED toggle - D45

D is digital pin
Pin out is copy with RAMPS 1.4

[mojalovaa1]

some one have GRBL with limit switch options and homing , and need work ?

[Jason von Nieda]

Sorry, I am using Marlin firmware at the moment and have not yet hooked up my home switches. 

Jason

On Sun, Jan 25, 2015 at 1:53 PM, mojalovaa1 <moja...@gmail.com> wrote:

some one have GRBL with limit switch options and homing , and need work ?

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[Bob Beattie]

Hi Mojo,

Where did you get this v0.97 from ?  I have 0.97, but this is my code based on 0.9g (g = 7th letter of alphabet)

I added the C axis function.

Please do the following:

1. Post your config.h

2. Post your cpu_mah.h

3. Post how you are connecting your 2560 board to your controller and what controller are you using.

Br,

Bob.

[mojalovaa1]

On attachment send GRBL , I think that I m download that grbl on this group , I use 4Axis TB6560 stepper driver connected with arduino with LPT cable who is soldering to arduino  like on Cpu_map .
98% that I m not something make OK , but Cri.s help me and not work , becouse that I think that is problems  on grbl .

[Bob Beattie]

Hi Mojo,

You have downloaded and compiled the code I am running on my Mega2560.

Let us look, for the moment, only at the motor controlling the X axis.

1. Please report which pins on the Arduino connect to DIR, STEP and ENABLE on your motor controller.

2. Reset GRBL by pressing the RESET button on the side of the Arduino.  What commands do you now enter to make a move ?  (tell me everything you type)

Bob.

[mojalovaa1]

X step -D22 -A0
X dir - D23 -A1
Y step - D24 -A2
Y dir - D25 - A3
Z step - D26 -A4
Z dir - D27 -A5
C step - D28 -A6
C dir - D29 - A7
Enable - D30 - C7
X lim -D31 -C6
Y lim -D32 - C5
Z lim - D33 -C4
C lim - D34 - C3 ( not on use )

********************************************************************************
$VERSION = 0.97
>>> $$
$0=15 (step pulse, usec)

$1=255 (step idle delay, msec)

$2=1 (step port invert mask:00000001)
$3=1 (dir port invert mask:00000001)

$4=0 (step enable invert, bool)
$5=0 (limit pins invert, bool)
$6=0 (probe pin invert, bool)
$10=3 (status report mask:00000011)
$11=0.020 (junction deviation, mm)
$12=0.002 (arc tolerance, mm)

$13=0 (report inches, bool)

$14=1 (auto start, bool)
$20=0 (soft limits, bool)

$21=1 (hard limits, bool)
$22=0 (homing cycle, bool)
$23=3 (homing dir invert mask:00000011)
$24=25.000 (homing feed, mm/min)

$25=500.000 (homing seek, mm/min)
$26=250 (homing debounce, msec)

$27=3.000 (homing pull-off, mm)

$100=40.076 (x, step/mm)
$101=40.059 (y, step/mm)
$102=40.000 (z, step/mm)

$103=8.888 (c, step/mm)
$110=25000.000 (x max rate, mm/min)
$111=25000.000 (y max rate, mm/min)
$112=10000.000 (z max rate, mm/min)
$113=20000.000 (c max rate, mm/min)
$120=7000.000 (x accel, mm/sec^2)
$121=5000.000 (y accel, mm/sec^2)
$122=1000.000 (z accel, mm/sec^2)
$123=2000.000 (c accel, mm/sec^2)

$130=556.000 (x max travel, mm)
$131=380.000 (y max travel, mm)
$132=40.000 (z max travel, mm)
$133=360.000 (c max travel, mm)
ok

X , Y , Z and  C work , but not work limit switch and homing , Cri.s help me to  start that options but  we can make that.

[mojalovaa1]

Forget , when pres reset on arduino rite me :

$VERSION = 0.97
ALARM: Hard/soft limit
[Reset to continue]

Then pres Ctrl +X
 for reset , then $X for unlock

[Bob Beattie]

This is my GRBL setup :

$0=50 (step pulse, usec)

$1=25 (step idle delay, msec)

$2=0 (step port invert mask:00000000)

$3=0 (dir port invert mask:00000000)

$4=0 (step enable invert, bool)

$5=0 (limit pins invert, bool)

$6=0 (probe pin invert, bool)

$10=3 (status report mask:00000011)

$11=0.020 (junction deviation, mm)

$12=0.002 (arc tolerance, mm)

$13=0 (report inches, bool)

$14=1 (auto start, bool)

$20=0 (soft limits, bool)

$21=0 (hard limits, bool)

$22=1 (homing cycle, bool)

$23=0 (homing dir invert mask:00000000)

$24=1000.000 (homing feed, mm/min)

$25=1000.000 (homing seek, mm/min)

$26=250 (homing debounce, msec)

$27=1.000 (homing pull-off, mm)

$100=80.000 (x, step/mm)

$101=100.000 (y, step/mm)

$102=45.460 (z, step/mm)

$103=8.750 (c, step/mm)

$110=1500.000 (x max rate, mm/min)

$111=1500.000 (y max rate, mm/min)

$112=1000.000 (z max rate, mm/min)

$113=5000.000 (c max rate, mm/min)

$120=75.000 (x accel, mm/sec^2)

$121=75.000 (y accel, mm/sec^2)

$122=75.000 (z accel, mm/sec^2)

$123=75.000 (c accel, mm/sec^2)

$130=620.000 (x max travel, mm)

$131=400.000 (y max travel, mm)

$132=25.000 (z max travel, mm)

$133=200.000 (c max travel, mm)

I notice your homing cycle is not set.

[mojalovaa1]

When homing is On  than X go , click switch and stop ,  after some time , pull buck and stop .

[Bob Beattie]

"X , Y , Z and  C work , but not work limit switch and homing"

So X homing works.  What about Y ?

[mojalovaa1]

ok

$0=50 (step pulse, usec)
$1=25 (step idle delay, msec)

$2=1 (step port invert mask:00000001)
$3=1 (dir port invert mask:00000001)

$4=0 (step enable invert, bool)
$5=0 (limit pins invert, bool)
$6=0 (probe pin invert, bool)
$10=3 (status report mask:00000011)
$11=0.020 (junction deviation, mm)
$12=0.002 (arc tolerance, mm)
$13=0 (report inches, bool)
$14=1 (auto start, bool)
$20=0 (soft limits, bool)
$21=0 (hard limits, bool)
$22=1 (homing cycle, bool)

$23=3 (homing dir invert mask:00000011)

$24=1000.000 (homing feed, mm/min)
$25=1000.000 (homing seek, mm/min)
$26=250 (homing debounce, msec)

$27=5.000 (homing pull-off, mm)

$100=40.076 (x, step/mm)
$101=40.059 (y, step/mm)
$102=40.000 (z, step/mm)
$103=8.888 (c, step/mm)
$110=25000.000 (x max rate, mm/min)
$111=25000.000 (y max rate, mm/min)
$112=10000.000 (z max rate, mm/min)
$113=20000.000 (c max rate, mm/min)
$120=7000.000 (x accel, mm/sec^2)
$121=5000.000 (y accel, mm/sec^2)
$122=1000.000 (z accel, mm/sec^2)
$123=2000.000 (c accel, mm/sec^2)
$130=556.000 (x max travel, mm)
$131=380.000 (y max travel, mm)
$132=40.000 (z max travel, mm)
$133=360.000 (c max travel, mm)
ok

Now work X and Y homing , but for that need 10 -12 min time .
Not work Z home.

[mojalovaa1]

OK , changed $26=250 to $26=25 and now g ok , only not work Z home , some suggestions ?

[Bob Beattie]

Good work.

OK, Z axis is easy.

In config.h line 80, homing cycle for Z axis is commented out.

Replace with 

#define HOMING_CYCLE_0 (1<<Z_AXIS)  // REQUIRED: First move Z to clear workspace.
#define HOMING_CYCLE_1 (1<<X_AXIS)  // OPTIONAL: Then move X axis
#define HOMING_CYCLE_2 (1<<Y_AXIS)  // OPTIONAL: lastly move Y axis

you will need to

make clean && make flash

Best regards,

Bob.

[mojalovaa1]

Bob , Can you explain me how  GRBL source config to HEX on arduino?

[Bob Beattie]

At the command line you run

make

to compile the code.  The compiler will create the .hex file if there are no errors.

You can then run

make flash

to program the Arduino.

To see the internals of how this works you will need to load makefile into a text editor.

[mojalovaa1]

Bob
I use Arduino 1.0.6 originals software for arduino , and step by step go  like on this video http://www.shapeoko.com/wiki/index.php/Grbl#Using_Arduino_IDE_to_Compile , but I have 0ne millions errors .
 
I m make one time hex. and now I m forget step , I go to Sketch - import Library - add library and  click on folder here is GRBL source
After that I go to Sketch  - import Library - and  click on GRBL
Than #include <system.h> move to first place
Verify
Than upload
But not work correct .

[Bob Beattie]

Sorry, but I have never used the Arduino development environment.

I only have ever used GCC from the command line.

GCC suite can be installed with:

sudo apt-get install build-essentials

You will also need to add your user name to the dialout group else you might not be able to control the USB port for flashing.

sudo gpasswd --add [yourusername] dialout

You will need to logout and and back in again to make the changes take effect.

[mojalovaa1]

Bob , I have more problems , on GRBL  homing work ok , when I make homing on  openpnp he say homing faild , he make homing but say that error .
I think that is problems on minicom , sometimes  can connect with arduino GRBL , sometimes not connect , with busybox all time make good connections .
What you think ?

[Bob Beattie]

What OS are you using ?

[mojalovaa1]

I use Lubuntu 
Yesterday is work ok homing , turn off comp and now not work , I m not change nothing .

[Bob Beattie]

When any program opens the serial port to the Arduino, the Ubuntu core (including Lubuntu & Kubuntu) will create a 'lock' file in /run/lock

If all is well, there should only be a single entry called 'Whoopsie'

ls /run/lock

Do you have a lock file for ttyACM0 ? If yes then delete it and unplug/plug the Arduino board.

Then perform another ls /dev and you should see ttyACM0 in the list of available serial ports.

With the Arduino unplugged, delete any remaining files in /run/lock (except for Whoopsie)

[mojalovaa1]

I have this
/run:
alsa          network              sshd
crond.pid     network-interface-security  sshd.pid
crond.reboot  NetworkManager          syslogd.pid
cups          ntpd.pid              systemd
dbus          plymouth              udev
initramfs     pppconfig              udisks2
klogd.pid     resolvconf          upstart-file-bridge.pid
lightdm       samba              upstart-socket-bridge.pid
lightdm.pid   screen              upstart-udev-bridge.pid
lock          sdp              user
motd.dynamic  sendsigs.omit.d          utmp
mount          shm              wpa_supplicant
elektronika@elektronika-Aspire-SA80:/dev$

[Cri S]

probably hi runs the usb or cd version and on this the dev is on ramdisk, so without casper-rw or some initrd script the

device is not persistent. This is my guess.

Hi runs an older version of OpenPnP because for unknown reasons the newer version don't work on his serial 

connection. The older version user RXTX lib and this on unix have the limitation, that the name of the serial port

must be ttySxx where xx is a number from 0 to 99 .  Because this symlink must be made.

On his unsupported window XP neither version works, probably because some localisation conflict between the

croation language and the exe, or some antiwirus firewall that block something, who knows.

[mojalovaa1]

Cri.s I not use croatian language on my win xp , on first installation I m use old version OPEN PNP .
That time I m have problems with RxTx library , maybe that is problems .
Now I can use USB port on my linux   , but if I go on busybox than work OK .
Will be help if I install new lubuntu and install all again?

[mojalovaa1]

Sorry , can not use USB now  , but on busy box work all usb .

[Cri S]

Eventually add these two lines to the openpnp.sh before the Java line.
sudo rm -f /dev/ttyS33
sudo ln -s /dev/ttyACM0 /dev/ttyS33

[mojalovaa1]

Definitely I will install new Lubuntu and then new version Open PNP , If some one can write what all need install , not need step by step , only name  programs .
Thanks

[mojalovaa1]

Hi
I m install new Lubuntu , new Open pnp , first start ok work  , when I m change NullDriver to GrblDriver , open pnp not work .
With mircocom I open USB i hawe communicatyon  with  GRBL ok .
All installation is go without any problems .

[mojalovaa1]

<openpnp-machine>
   <machine class="org.openpnp.machine.reference.ReferenceMachine">
      <driver class="org.openpnp.machine.reference.driver.NullDriver" />
      <heads>
         <reference-head id="H1" pick-dwell-milliseconds="10" place-dwell-milliseconds="10">
            <feed-rate value="25000.0" units="Millimeters"/>
            <soft-limits enabled="true">
               <minimums units="Millimeters" x="-100.0" y="-100.0" z="-100.0" rotation="0.0"/>
               <maximums units="Millimeters" x="1000.0" y="1000.0" z="1000.0" rotation="360.0"/>
            </soft-limits>
            <homing>
               <vision enabled="false" homing-dot-diameter="0.0">
                  <homing-dot-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
               </vision>
               <location units="Millimeters" x="1.0" y="1.0" z="1.0" rotation="0.0"/>
            </homing>
            <actuators>
               <reference-actuator id="PIN" index="0">
                  <location units="Millimeters" x="-20.0" y="0.0" z="0.0" rotation="0.0"/>
               </reference-actuator>
            </actuators>
            <safe-z value="-5.0" units="Millimeters"/>
         </reference-head>
      </heads>
      <cameras>
         <reference-camera class="org.openpnp.machine.reference.camera.OpenCvCamera" name="Camera 1" looking="Down" head-id="H1" device-index="0">
            <location units="Millimeters" x="20.0" y="20.0" z="20.0" rotation="0.0"/>
            <units-per-pixel units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
            <vision-provider class="org.openpnp.machine.reference.vision.OpenCvVisionProvider"/>
         </reference-camera>
      </cameras>
      <feeders>
         <reference-feeder class="org.openpnp.machine.reference.feeder.ReferenceTapeFeeder" name="F1" enabled="false" part-id="PLCC6-61-23RGBC/TR8" actuator-id="PIN">
            <location units="Millimeters" x="50.0" y="50.0" z="2.0" rotation="0.0"/>
            <feed-start-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
            <feed-end-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
            <feed-rate value="9000.0" units="Millimeters"/>
            <vision enabled="false">
               <area-of-interest x="0" y="0" width="0" height="0"/>
               <template-image-top-left units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
               <template-image-bottom-right units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
            </vision>
         </reference-feeder>
         <reference-feeder class="org.openpnp.machine.reference.feeder.ReferenceTapeFeeder" name="F2" enabled="true" part-id="M1206-" actuator-id="PIN">
            <location units="Millimeters" x="80.0" y="50.0" z="-5.0" rotation="0.0"/>
            <feed-start-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
            <feed-end-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
            <feed-rate value="2000.0" units="Millimeters"/>
            <vision enabled="false">
               <area-of-interest x="0" y="0" width="0" height="0"/>
               <template-image-top-left units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
               <template-image-bottom-right units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
            </vision>
         </reference-feeder>
         <reference-feeder class="org.openpnp.machine.reference.feeder.ReferenceTubeFeeder" name="F3" enabled="true" part-id="PLCC6-61-23RGBC/TR8">
            <location units="Millimeters" x="18.0" y="1.5" z="-25.0" rotation="0.0"/>
         </reference-feeder>
      </feeders>
   </machine>
</openpnp-machine>

With that machine.xml file work ok , only when enter new web camera on  USB than blocking all comp , camera is :  http://www.giga-tech.eu/products/gigatech-web-camera-w-054/
Usb port  for GRBL is ttyACM0  but with name not work , than change to ttyS33 , than work on  mircocom but on open pnp not work .
I m try enter Bob machine.xml file   not work , enter part for driver class , not work , enter my machine.xml who is work yesterday when I work with Cri.s , not work , hawe some one something idea ?

<openpnp-machine>
   <machine class="org.openpnp.machine.reference.ReferenceMachine">
      <driver class="org.openpnp.machine.reference.driver.MojaDriver" port-name="/dev/ttyS33" baud="9600"/>
      <heads>
         <reference-head id="H1" pick-dwell-milliseconds="10" place-dwell-milliseconds="10">
            <feed-rate value="25000.0" units="Millimeters"/>
            <soft-limits enabled="true">
               <minimums units="Millimeters" x="-100.0" y="-100.0" z="-100.0" rotation="0.0"/>
               <maximums units="Millimeters" x="1000.0" y="1000.0" z="1000.0" rotation="360.0"/>
            </soft-limits>
            <homing>
               <vision enabled="false" homing-dot-diameter="0.0">
                  <homing-dot-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
               </vision>
               <location units="Millimeters" x="1.0" y="1.0" z="1.0" rotation="0.0"/>
            </homing>
            <actuators>
               <reference-actuator id="PIN" index="0">
                  <location units="Millimeters" x="-20.0" y="0.0" z="0.0" rotation="0.0"/>
               </reference-actuator>
            </actuators>
            <safe-z value="-5.0" units="Millimeters"/>
         </reference-head>
      </heads>
      <cameras>
         <reference-camera class="org.openpnp.machine.reference.camera.OpenCvCamera" name="Camera 1" looking="Down" head-id="H1" device-index="0">
            <location units="Millimeters" x="20.0" y="20.0" z="20.0" rotation="0.0"/>
            <units-per-pixel units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
            <vision-provider class="org.openpnp.machine.reference.vision.OpenCvVisionProvider"/>
         </reference-camera>
      </cameras>
      <feeders>
         <reference-feeder class="org.openpnp.machine.reference.feeder.ReferenceTapeFeeder" name="F1" enabled="false" part-id="PLCC6-61-23RGBC/TR8" actuator-id="PIN">
            <location units="Millimeters" x="50.0" y="50.0" z="2.0" rotation="0.0"/>
            <feed-start-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
            <feed-end-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
            <feed-rate value="9000.0" units="Millimeters"/>
            <vision enabled="false">
               <area-of-interest x="0" y="0" width="0" height="0"/>
               <template-image-top-left units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
               <template-image-bottom-right units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
            </vision>
         </reference-feeder>
         <reference-feeder class="org.openpnp.machine.reference.feeder.ReferenceTapeFeeder" name="F2" enabled="true" part-id="M1206-" actuator-id="PIN">
            <location units="Millimeters" x="80.0" y="50.0" z="-5.0" rotation="0.0"/>
            <feed-start-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
            <feed-end-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
            <feed-rate value="2000.0" units="Millimeters"/>
            <vision enabled="false">
               <area-of-interest x="0" y="0" width="0" height="0"/>
               <template-image-top-left units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
               <template-image-bottom-right units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
            </vision>
         </reference-feeder>
         <reference-feeder class="org.openpnp.machine.reference.feeder.ReferenceTubeFeeder" name="F3" enabled="true" part-id="PLCC6-61-23RGBC/TR8">
            <location units="Millimeters" x="18.0" y="1.5" z="-25.0" rotation="0.0"/>
         </reference-feeder>
      </feeders>
   </machine>
</openpnp-machine>

When I change MojaDriver to GrblDriver same , not work  openpnp .

[Bob Beattie]

I don't know about Minicom, but you have used the same baud rate in both Minicom and machine.xml ?

Also, you do perform a 'close device' before running OpenPnP ?  You cannot have a serial program open to GRBL controller and expect OpenPnP to connect to the controller at the same time.

[mojalovaa1]

Hi Bob
I know that , I not use minicom when start with OpenPNP  , always disconnect link , after that start with OpenPNP.
The real name of the port is ttyACM0 , on minicom can work with that name  , or  with ttyS33 after  I m make this like is Cri.s say :  sudo ls -s ttyACM0 - ttyS33  ,  cd /dev  , ls -l /dev /ttyS33
Comp is Asus Aspire  SA80 , 3GHz , 1 GB ram , I have install   system , Lubuntu and Win XP SP3  .

[Bob Beattie]

Well, I do not know what to recommend to fix your issues on Lubuntu.

All I can suggest is that you follow the steps I wrote for an Ubuntu 14.04 LTS installation.

I remember you commenting that the machine was very slow.

Mine is also slow (Opteron 1.8GHz), but we will have the same OS and setup and this is a better situation to help you than also having to consider any difference between Ubuntu & Lubuntu.

Once you have your setup working on the [slow] Ubuntu installation, you can then spend as much time as you like trying it on another Linux or Windows OS.

Bob.

[Cri S]

It's funny to see how two working lines changes .

[mojalovaa1]

Cri.s , You wont something say , :)  ?

[mojalovaa1]

Ok , now  openpnp work  ok , thanks  for help Bob , and Cri.s
Cri.s , without you I will never doing that , Thanks .

For  several days I will write step by step what is be problems , if I m understand correct Cri.s