alarm 8 while homing GrblHAL 1.1f

[jrdarrah]

I'm setting us a new CNC mill using the grblHAL breakout board. I've been taking small steps and made sure the steppers are working properly. I added NPN Normally Open proximity switches, two per axis and verified that all are at about 5V when not triggered and .7V when triggered. For this test I have all three axis in about the middle so none of the sensors are triggered. To keep from driving the motors to the end stops if the sensors don't work I disconnected the steppers with my plan to manually trigger the end sensor. I can see alarms when I trigger the sensor manually from reset/unlock.

The problem now is when I try homing it immediately gets this error. the UGS display doesn't indicate any movement on any of the axis. The error doesn't make sense because the sensors are not triggered so they wouldn't pull off. In my test I will manually trigger which I didn't. I was expecting UGS/grblHAL to count up/down on all three axises and back off when I manually triggered.

I did look at the $5 invert limit pins but I think it is correct at $5=0 since $5V is not triggered and .7V is.

Have I missed something setting up the homing in grblHAL?

$H
[Error] An error was detected while sending '$H': (ALARM:8) Homing fail. Pull off travel failed to clear limit switch. Try increasing pull-off setting or check wiring. Streaming has been paused.

[Error] Error while processing response <An error was detected while sending '$H': (ALARM:8) Homing fail. Pull off travel failed to clear limit switch. Try increasing pull-off setting or check wiring. Streaming has been paused.>

[Error] Error while processing response : An unexpected command was completed by the controller.

GrblHAL 1.1f ['$' for help]

$$
$0 = 10.0 (Step pulse time, microseconds)
$1 = 25 (Step idle delay, milliseconds)
$2 = 7 (Step pulse invert, mask)
$3 = 0 (Step direction invert, mask)
$4 = 7 (Invert step enable pin, boolean)
$5 = 0 (Invert limit pins, boolean)
$6 = 0 (Invert probe pin, boolean)
$10 = 18 (Status report options, mask)
$11 = 0.010 (Junction deviation, millimeters)
$12 = 0.002 (Arc tolerance, millimeters)
$13 = 0 (Report in inches, boolean)
$14 = 64
$15 = 0
$16 = 0
$17 = 0
$18 = 0
$19 = 0
$20 = 0 (Soft limits enable, boolean)
$21 = 1 (Hard limits enable, boolean)
$22 = 1 (Homing cycle enable, boolean)
$23 = 0 (Homing direction invert, mask)
$24 = 25.000 (Homing locate feed rate, mm/min)
$25 = 500.000 (Homing search seek rate, mm/min)
$26 = 25 (Homing switch debounce delay, milliseconds)
$27 = 1.000 (Homing switch pull-off distance, millimeters)
$28 = 0.100
$29 = 0.0
$30 = 1000. (Maximum spindle speed, RPM)
$31 = 0. (Minimum spindle speed, RPM)
$32 = 0 (Laser-mode enable, boolean)
$33 = 5000.000
$34 = 0.000
$35 = 0.000
$36 = 100.000
$37 = 0
$39 = 1
$40 = 0
$41 = 0
$42 = 2
$43 = 1
$44 = 4
$45 = 3
$46 = 0
$56 = 5.000
$57 = 100.000
$58 = -5.000
$59 = 500.000
$60 = 0
$61 = 0
$62 = 0
$63 = 2
$64 = 0
$65 = 0
$70 = 3
$100 = 158.302 (X-axis travel resolution, step/mm)
$101 = 159.400 (Y-axis travel resolution, step/mm)
$102 = 159.453 (Z-axis travel resolution, step/mm)
$110 = 500.000 (X-axis maximum rate, mm/min)
$111 = 500.000 (Y-axis maximum rate, mm/min)
$112 = 800.000 (Z-axis maximum rate, mm/min)
$120 = 10.000 (X-axis acceleration, mm/sec^2)
$121 = 10.000 (Y-axis acceleration, mm/sec^2)
$122 = 10.000 (Z-axis acceleration, mm/sec^2)
$130 = 200.000 (X-axis maximum travel, millimeters)
$131 = 200.000 (Y-axis maximum travel, millimeters)
$132 = 200.000 (Z-axis maximum travel, millimeters)
$300 = GRBL
$301 = 0
$302 = 10.1.1.2
$303 = 10.1.1.1
$304 = 255.255.255.0
$305 = 23
$307 = 80
$341 = 0
$342 = 30.0
$343 = 25.0
$344 = 200.0
ok
$G
[GC:G0 G54 G17 G21 G90 G94 G49 G98 G50 M5 M9 T0 F0 S0.]
ok

[terjeio]

What is reported in the Pn: element of the realtime report before and after a limit switch is triggered?
Example when not triggered:
<Idle|MPos:0.000,0.000,0.000|Bf:511,1023|FS:0,0,118>
When X is triggered:
<Idle|MPos:0.000,0.000,0.000|Bf:511,1023|FS:0,0,118|Pn:X>

[jrdarrah]

I ran 4 tests, reset-unlock trigger X, Y, Z axis sensor one at a time, then a reset unlock and home
I did some editing to reduce repeated data so hopefully this caught what you asked for

**** Connected to /dev/ttyACM0 @ 115200 baud ****

GrblHAL 1.1f ['$' for help]

$$
$0 = 10.0 (Step pulse time, microseconds)
$1 = 25 (Step idle delay, milliseconds)
$2 = 7 (Step pulse invert, mask)
$3 = 0 (Step direction invert, mask)
$4 = 7 (Invert step enable pin, boolean)
$5 = 0 (Invert limit pins, boolean)
$6 = 0 (Invert probe pin, boolean)
$10 = 2 (Status report options, mask)
$11 = 0.010 (Junction deviation, millimeters)
$12 = 0.002 (Arc tolerance, millimeters)
$13 = 0 (Report in inches, boolean)
$14 = 64
$15 = 0
$16 = 0
$17 = 0
$18 = 0
$19 = 0
$20 = 0 (Soft limits enable, boolean)
$21 = 1 (Hard limits enable, boolean)
$22 = 1 (Homing cycle enable, boolean)
$23 = 0 (Homing direction invert, mask)
$24 = 25.000 (Homing locate feed rate, mm/min)
$25 = 500.000 (Homing search seek rate, mm/min)
$26 = 25 (Homing switch debounce delay, milliseconds)
$27 = 1.000 (Homing switch pull-off distance, millimeters)
$28 = 0.100
$29 = 0.0
$30 = 1000. (Maximum spindle speed, RPM)
$31 = 0. (Minimum spindle speed, RPM)
$32 = 0 (Laser-mode enable, boolean)
$33 = 5000.000
$34 = 0.000
$35 = 0.000
$36 = 100.000
$37 = 0
$39 = 1
$40 = 0
$41 = 0
$42 = 2
$43 = 1
$44 = 4
$45 = 3
$46 = 0
$56 = 5.000
$57 = 100.000
$58 = -5.000
$59 = 500.000
$60 = 0
$61 = 0
$62 = 0
$63 = 2
$64 = 0
$65 = 0
$70 = 3
$100 = 158.302 (X-axis travel resolution, step/mm)
$101 = 159.400 (Y-axis travel resolution, step/mm)
$102 = 159.453 (Z-axis travel resolution, step/mm)
$110 = 500.000 (X-axis maximum rate, mm/min)
$111 = 500.000 (Y-axis maximum rate, mm/min)
$112 = 800.000 (Z-axis maximum rate, mm/min)
$120 = 10.000 (X-axis acceleration, mm/sec^2)
$121 = 10.000 (Y-axis acceleration, mm/sec^2)
$122 = 10.000 (Z-axis acceleration, mm/sec^2)
$130 = 200.000 (X-axis maximum travel, millimeters)
$131 = 200.000 (Y-axis maximum travel, millimeters)
$132 = 200.000 (Z-axis maximum travel, millimeters)
$300 = GRBL
$301 = 0
$302 = 10.1.1.2
$303 = 10.1.1.1
$304 = 255.255.255.0
$305 = 23
$307 = 80
$341 = 0
$342 = 30.0
$343 = 25.0
$344 = 200.0
ok
$G
[verbose] GrblFeedbackMessage{message='[GC:G0 G54 G17 G21 G90 G94 G49 G98 G50 M5 M9 T0 F0 S0.]', distanceMode='G90', units='G21'}
[GC:G0 G54 G17 G21 G90 G94 G49 G98 G50 M5 M9 T0 F0 S0.]
ok
[verbose] <Alarm|WPos:0.000,0.000,0.000|Bf:35,1023|H:0>
[verbose] <Alarm|WPos:0.000,0.000,0.000|Bf:35,1023>

$X
[MSG:Caution: Unlocked]
ok

[verbose] <Idle|WPos:0.000,0.000,0.000|Bf:35,1023>

Trigger X-axis sensor
An unexpected error was detected: (ALARM:1) Hard limit has been triggered. Machine position is likely lost due to sudden halt. Re-homing is highly recommended.
[MSG:Reset to continue]

[verbose] <Alarm|WPos:0.000,0.000,0.000|Bf:35,1023>

GrblHAL 1.1f ['$' for help]

$$
//edited//

$G
[verbose] GrblFeedbackMessage{message='[GC:G0 G54 G17 G21 G90 G94 G49 G98 G50 M5 M9 T0 F0 S0.]', distanceMode='G90', units='G21'}
[GC:G0 G54 G17 G21 G90 G94 G49 G98 G50 M5 M9 T0 F0 S0.]
ok
[verbose] <Alarm|WPos:0.000,0.000,0.000|Bf:35,1023|H:0>
[verbose] <Alarm|WPos:0.000,0.000,0.000|Bf:35,1023>

$X
[MSG:Caution: Unlocked]
ok
[verbose] <Idle|WPos:0.000,0.000,0.000|Bf:35,1023>

Trigger Y-Axis sensor
An unexpected error was detected: (ALARM:1) Hard limit has been triggered. Machine position is likely lost due to sudden halt. Re-homing is highly recommended.
[MSG:Reset to continue]
[verbose] <Alarm|WPos:0.000,0.000,0.000|Bf:35,1023>

GrblHAL 1.1f ['$' for help]

$$
//edited//

$G
[verbose] GrblFeedbackMessage{message='[GC:G0 G54 G17 G21 G90 G94 G49 G98 G50 M5 M9 T0 F0 S0.]', distanceMode='G90', units='G21'}
[GC:G0 G54 G17 G21 G90 G94 G49 G98 G50 M5 M9 T0 F0 S0.]
ok
[verbose] <Alarm|WPos:0.000,0.000,0.000|Bf:35,1023|H:0>
[verbose] <Alarm|WPos:0.000,0.000,0.000|Bf:35,1023>

$X
[MSG:Caution: Unlocked]
ok
[verbose] <Idle|WPos:0.000,0.000,0.000|Bf:35,1023>

Trigger Z-axis sensor
An unexpected error was detected: (ALARM:1) Hard limit has been triggered. Machine position is likely lost due to sudden halt. Re-homing is highly recommended.
[MSG:Reset to continue]
[verbose] <Alarm|WPos:0.000,0.000,0.000|Bf:35,1023>

GrblHAL 1.1f ['$' for help]

$$
//edited//

$G
[GC:G0 G54 G17 G21 G90 G94 G49 G98 G50 M5 M9 T0 F0 S0.]
ok
$X
[MSG:Caution: Unlocked]
ok
[verbose] <Idle|WPos:0.000,0.000,0.000|Bf:35,1023>

Home sequence

$H
[verbose] <Home|WPos:0.000,0.000,0.000|Bf:35,1023>
[Error] An error was detected while sending '$H': (ALARM:8) Homing fail. Pull off travel failed to clear limit switch. Try increasing pull-off setting or check wiring. Streaming has been paused.
[Error] Error while processing response <An error was detected while sending '$H': (ALARM:8) Homing fail. Pull off travel failed to clear limit switch. Try increasing pull-off setting or check wiring. Streaming has been paused.>
[Error] Error while processing response : An unexpected command was completed by the controller.
GrblHAL 1.1f ['$' for help]
$$
$0 = 10.0 (Step pulse time, microseconds)
$1 = 25 (Step idle delay, milliseconds)
$2 = 7 (Step pulse invert, mask)
$3 = 0 (Step direction invert, mask)
$4 = 7 (Invert step enable pin, boolean)
$5 = 0 (Invert limit pins, boolean)
$6 = 0 (Invert probe pin, boolean)
$10 = 2 (Status report options, mask)
$11 = 0.010 (Junction deviation, millimeters)
$12 = 0.002 (Arc tolerance, millimeters)
$13 = 0 (Report in inches, boolean)
$14 = 64
$15 = 0
$16 = 0
$17 = 0
$18 = 0
$19 = 0
$20 = 0 (Soft limits enable, boolean)
$21 = 1 (Hard limits enable, boolean)
$22 = 1 (Homing cycle enable, boolean)
$23 = 0 (Homing direction invert, mask)
$24 = 25.000 (Homing locate feed rate, mm/min)
$25 = 500.000 (Homing search seek rate, mm/min)
$26 = 25 (Homing switch debounce delay, milliseconds)
$27 = 1.000 (Homing switch pull-off distance, millimeters)
$28 = 0.100
$29 = 0.0
$30 = 1000. (Maximum spindle speed, RPM)
$31 = 0. (Minimum spindle speed, RPM)
$32 = 0 (Laser-mode enable, boolean)
$33 = 5000.000
$34 = 0.000
$35 = 0.000
$36 = 100.000
$37 = 0
$39 = 1
$40 = 0
$41 = 0
$42 = 2
$43 = 1
$44 = 4
$45 = 3
$46 = 0
$56 = 5.000
$57 = 100.000
$58 = -5.000
$59 = 500.000
$60 = 0
$61 = 0
$62 = 0
$63 = 2
$64 = 0
$65 = 0
$70 = 3
$100 = 158.302 (X-axis travel resolution, step/mm)
$101 = 159.400 (Y-axis travel resolution, step/mm)
$102 = 159.453 (Z-axis travel resolution, step/mm)
$110 = 500.000 (X-axis maximum rate, mm/min)
$111 = 500.000 (Y-axis maximum rate, mm/min)
$112 = 800.000 (Z-axis maximum rate, mm/min)
$120 = 10.000 (X-axis acceleration, mm/sec^2)
$121 = 10.000 (Y-axis acceleration, mm/sec^2)
$122 = 10.000 (Z-axis acceleration, mm/sec^2)
$130 = 200.000 (X-axis maximum travel, millimeters)
$131 = 200.000 (Y-axis maximum travel, millimeters)
$132 = 200.000 (Z-axis maximum travel, millimeters)
$300 = GRBL
$301 = 0
$302 = 10.1.1.2
$303 = 10.1.1.1
$304 = 255.255.255.0
$305 = 23
$307 = 80
$341 = 0
$342 = 30.0
$343 = 25.0
$344 = 200.0
ok
$G
[verbose] GrblFeedbackMessage{message='[GC:G0 G54 G17 G21 G90 G94 G49 G98 G50 M5 M9 T0 F0 S0.]', distanceMode='G90', units='G21'}
[GC:G0 G54 G17 G21 G90 G94 G49 G98 G50 M5 M9 T0 F0 S0.]
ok
[verbose] <Alarm|WPos:0.000,0.000,0.000|Bf:35,1023|H:0>
[verbose] <Alarm|WPos:0.000,0.000,0.000|Bf:35,1023>

[terjeio]

I did some editing to reduce repeated data so hopefully this caught what you asked for

It did not, can you try with setting $10=511 and $5=7?
If this does not help post the output from $I.

Be aware that grblHAL (and grbl) does not respond to real-time report requests during homing and due to that the sender cannot show any movement in the DRO display.

[jrdarrah]

The $5=7 did the trick. I dug out the spec sheet for the opto-isolators that Phil used on his grblHAL breakout board. My proximity sensors are normally open so they would read 5V because of the pull-up resistor on the board's interface. The spec shows 5V in gives a low on the isolators output to the Teensy pin. Inverting the limit pins via $5=7 fixed that issue. I was not aware that the DRO wouldn't change during the homing cycle. I went back and connected all stepper motors. The home cycle did move each axis to the proper position. The pull off looks about right. Thanks.

[WZdunski]

HI,
After uploading, there is an error: 9, 18. I changed $ 14 to 7 and the alarm disappears.
But the problem I am struggling with is connecting the motors. After connecting the Protoneer v3 CNC board, there is always power on the motors control pins. I have implemented every map and this problem is always there.
What should I change to solve this problem?

My staff:
Protoneer CNC Shield V3 (red)
Arduino Due Atmel SAM3X8E ARM Cortex-M3 CPU

Thanks for any advice.

[terjeio]

There is a map for the board in the new repo, I cannot remember if there is one in this and I am lazy to check as I am about to archive it.

So should cut the pin you show in the picture?

Yes, and solder a bridge between 3.3V and 5V on the shield as shown.

Phil, can you update the link to the new repo on your Tindie page and also in grbl.org if still pointing to this?

[WZdunski]

Even when I choose the Protoneer map, I have RAMPS1.6 in the description. So I'm not sure it will load.

[VER:1.1f.20210513:]
[OPT:VNSL,35,1024,3,0]
Target buffer size found
[NEWOPT:ENUMS,RT+,NOPROBE,TC]
[FIRMWARE:grblHAL]
[NVS STORAGE:*FLASH]
[DRIVER:SAM3X8E]
[DRIVER VERSION:210503]
[BOARD:Ramps 1.6]

[WZdunski]

Please, tell me how I should set $ for laser with two axis XY (Y double)
I uploaded https://github.com/grblHAL/SAM3X8E with map Protoneer

My current settings..
$14 i set 73 but it showing 1

GrblHAL 1.1f ['$' or '$HELP' for help]
<Idle|WPos:0.000,0.000,0.000|Bf:35,1023|WCS:G54|A:|Sc:|H:0,0|T:0|TLR:0|FW:grblHAL>
[VER:1.1f.20210513:]
[OPT:VNH0SLW,35,1024,3,0]
[NEWOPT:ENUMS,RT+,HOME,NOPROBE,TC]
[FIRMWARE:grblHAL]
[NVS STORAGE:*FLASH]
[DRIVER:SAM3X8E]
[DRIVER VERSION:210503]
[BOARD:Ramps 1.6]
ok
$0=10.0
$1=25
$2=7
$3=7
$4=7
$5=0
$6=0
$7=1
$10=2
$11=0.010
$12=0.002
$13=0
$14=1
$15=0
$16=1
$17=0
$18=0
$19=0
$20=0
$21=0
$22=131
$23=7
$24=25.0
$25=500.0
$26=250
$27=1.000
$28=0.100
$29=0.5
$30=1000.000
$31=0.000
$32=1
$33=5000.0
$34=0.0
$35=0.0
$36=100.0
$37=7
$39=1
$40=1
$43=1
$44=4
$45=3
$46=0
$62=0
$63=3
$64=0
$65=0
$80=1.000
$81=0.010
$82=0.000
$84=0.000
$85=10.000
$90=0.000
$91=0.000
$92=0.000
$95=0.000
$100=250.000
$101=250.000
$102=250.000
$110=500.000
$111=500.000
$112=500.000
$120=10.000
$121=10.000
$122=10.000
$130=200.000
$131=200.000
$132=200.000
$341=0
$342=30.0
$343=25.0
$344=200.0
$345=100.0
$347=5.0
$348=2.500
$349=25.000
ok
[GC:G0 G54 G17 G21 G90 G94 G49 G98 G50 M5 M9 T0 F0 S0.]
ok
[G54:0.000,0.000,0.000]
[G55:0.000,0.000,0.000]
[G56:0.000,0.000,0.000]
[G57:0.000,0.000,0.000]
[G58:0.000,0.000,0.000]
[G59:0.000,0.000,0.000]
[G59.1:0.000,0.000,0.000]
[G59.2:0.000,0.000,0.000]
[G59.3:0.000,0.000,0.000]
[G28:0.000,0.000,0.000]
[G30:0.000,0.000,0.000]
[G92:0.000,0.000,0.000]
[HOME:0.000,0.000,0.000:0]
[TLO:0.000,0.000,0.000]
[PRB:0.000,0.000,0.000:0]

[phil-barrett]

$32=1 is laser mode.

Have you tried ioSender? Only runs on a PC but is a very good GCode Sender.

[WZdunski]

Laser mode i have ON. Any else change on $?
Today i installed the iosender.
If i cut the pin 5V and i will do a bridge should working the shield?

[phil-barrett]

Phil, can you update the link to the new repo on your Tindie page and also in grbl.org if still pointing to this?

I fixed several links to the old repo. Will go looking for others.

[phil-barrett]

open mymachine.h
It may have something similar to what Terje posted.

[terjeio]

So I don't know what I doing wrong...

[VER:1.1f.20210513:]
[DRIVER VERSION:210503]

You are not compiling the version from the new repo, this is what I get.

[VER:1.1f.20211221:]
[DRIVER VERSION:211213]
[BOARD:Protoneer v3]

I am sorry for not spotting that before - too much going on...

[WZdunski]

Please look on my screenshots.

[terjeio]

Are you editing a different version of the code than the compiler uses? The version strings tells me so.

[WZdunski]

Are you editing a different version of the code than the compiler uses? The version strings tells me so.

Small SUCCESS !
After clean the cesh, I got correct description. And motors pins don't have a power like before..

[VER:1.1f.20211226:]
[OPT:VNMSL,35,1024,3,0]
Target buffer size found
[NEWOPT:ENUMS,RT+,TC,SED]
[FIRMWARE:grblHAL]
[NVS STORAGE:*FLASH]
[DRIVER:SAM3X8E]
[DRIVER VERSION:211213]
[BOARD:Protoneer v3]

For now very thanks for your persistence!