TinyG
OpenPnP now includes a generic Gcode driver that is far more flexible than the original TinyG specific driver. We recommend switching to the GcodeDriver. You can learn more about configuring the GcodeDriver at GcodeDriver. See below for an example configuration that will help.
<driver class="org.openpnp.machine.reference.driver.GcodeDriver" port-name="COM3" baud="115200" flow-control="Off" data-bits="Eight" stop-bits="One" parity="None" set-dtr="false" set-rts="false" units="Millimeters" max-feed-rate="1000" timeout-milliseconds="5000" connect-wait-time-milliseconds="1000">
<command type="MOVE_TO_COMMAND">
<text><![CDATA[G0 {X:X%.4f} {Y:Y%.4f} {Z:Z%.4f} {Rotation:A%.4f} F{FeedRate:%.0f}]]></text>
</command>
<command type="COMMAND_CONFIRM_REGEX">
<text><![CDATA[.*ok>.*]]></text>
</command>
<command type="MOVE_TO_COMPLETE_REGEX">
<text><![CDATA[.*stat:3.*]]></text>
</command>
<command type="HOME_COMMAND">
<text><![CDATA[G28.2 X0 Y0 Z0 A0 ]]></text>
<text><![CDATA[G92 X0 Y0 Z0]]></text>
</command>
<command type="DISABLE_COMMAND">
<text><![CDATA[M9 M5]]></text>
</command>
<command type="CONNECT_COMMAND">
<text><![CDATA[$SV=2]]></text>
<text><![CDATA[$ME ]]></text>
<text><![CDATA[$1pm=1]]></text>
<text><![CDATA[$2pm=1]]></text>
<text><![CDATA[$3pm=1]]></text>
<text><![CDATA[$4pm=1]]></text>
<text><![CDATA[$mt=1000000000]]></text>
<text><![CDATA[G21 G90 G92 X0 Y0 Z0 A0 M8 M5]]></text>
</command>
<command type="ENABLE_COMMAND">
<text><![CDATA[G21 M9]]></text>
</command>
<command type="PUMP_ON_COMMAND">
<text><![CDATA[M4]]></text>
</command>
<command type="PUMP_OFF_COMMAND">
<text><![CDATA[M5]]></text>
</command>
<command type="PLACE_COMMAND">
<text><![CDATA[M9]]></text>
</command>
<command type="PICK_COMMAND">
<text><![CDATA[M8]]></text>
</command>
<sub-drivers class="java.util.ArrayList"/>
<axes class="java.util.ArrayList">
<axis name="x" type="X" home-coordinate="0.0">
<head-mountable-ids class="java.util.HashSet">
<string>*</string>
</head-mountable-ids>
</axis>
<axis name="y" type="Y" home-coordinate="0.0">
<head-mountable-ids class="java.util.HashSet">
<string>*</string>
</head-mountable-ids>
</axis>
<axis name="z" type="Z" home-coordinate="0.0">
<head-mountable-ids class="java.util.HashSet">
<string>N1</string>
</head-mountable-ids>
</axis>
<axis name="rotation" type="Rotation" home-coordinate="0.0">
<head-mountable-ids class="java.util.HashSet">
<string>*</string>
</head-mountable-ids>
</axis>
</axes>
</driver>
[fb] firmware build 440.20
[fv] firmware version 0.97
[hp] hardware platform 1.00
[hv] hardware version 8.00
[id] TinyG ID 3X3566-YSD
[ja] junction acceleration 2000000 mm
[ct] chordal tolerance 0.0100 mm
[sl] soft limit enable 0
[st] switch type 0 [0=NO,1=NC]
[mt] motor idle timeout 300.00 Sec
[ej] enable json mode 0 [0=text,1=JSON]
[jv] json verbosity 2 [0=silent,1=footer,2=messages,3=configs,4=linenum,5=verbose]
[js] json serialize style 1 [0=relaxed,1=strict]
[tv] text verbosity 1 [0=silent,1=verbose]
[qv] queue report verbosity 2 [0=off,1=single,2=triple]
[sv] status report verbosity 2 [0=off,1=filtered,2=verbose]
[si] status interval 200 ms
[ec] expand LF to CRLF on TX 0 [0=off,1=on]
[ee] enable echo 1 [0=off,1=on]
[ex] enable flow control 1 [0=off,1=XON/XOFF, 2=RTS/CTS]
[baud] USB baud rate 5 [1=9600,2=19200,3=38400,4=57600,5=115200,6=230400]
[net] network mode 0 [0=master]
[gpl] default gcode plane 0 [0=G17,1=G18,2=G19]
[gun] default gcode units mode 1 [0=G20,1=G21]
[gco] default gcode coord system 1 [1-6 (G54-G59)]
[gpa] default gcode path control 2 [0=G61,1=G61.1,2=G64]
[gdi] default gcode distance mode 0 [0=G90,1=G91]
[1ma] m1 map to axis 0 [0=X,1=Y,2=Z...]
[1sa] m1 step angle 0.900 deg
[1tr] m1 travel per revolution 40.0000 mm
[1mi] m1 microsteps 8 [1,2,4,8]
[1po] m1 polarity 1 [0=normal,1=reverse]
[1pm] m1 power management 2 [0=disabled,1=always on,2=in cycle,3=when moving]
[2ma] m2 map to axis 1 [0=X,1=Y,2=Z...]
[2sa] m2 step angle 0.900 deg
[2tr] m2 travel per revolution 40.0000 mm
[2mi] m2 microsteps 8 [1,2,4,8]
[2po] m2 polarity 0 [0=normal,1=reverse]
[2pm] m2 power management 2 [0=disabled,1=always on,2=in cycle,3=when moving]
[3ma] m3 map to axis 2 [0=X,1=Y,2=Z...]
[3sa] m3 step angle 1.800 deg
[3tr] m3 travel per revolution 8.0000 mm
[3mi] m3 microsteps 8 [1,2,4,8]
[3po] m3 polarity 1 [0=normal,1=reverse]
[3pm] m3 power management 2 [0=disabled,1=always on,2=in cycle,3=when moving]
[4ma] m4 map to axis 3 [0=X,1=Y,2=Z...]
[4sa] m4 step angle 0.900 deg
[4tr] m4 travel per revolution 160.0000 mm
[4mi] m4 microsteps 8 [1,2,4,8]
[4po] m4 polarity 0 [0=normal,1=reverse]
[4pm] m4 power management 2 [0=disabled,1=always on,2=in cycle,3=when moving]
[xam] x axis mode 1 [standard]
[xvm] x velocity maximum 10000 mm/min
[xfr] x feedrate maximum 10000 mm/min
[xtn] x travel minimum 0.000 mm
[xtm] x travel maximum 600.000 mm
[xjm] x jerk maximum 1000 mm/min^3 * 1 million
[xjh] x jerk homing 2000 mm/min^3 * 1 million
[xjd] x junction deviation 0.0100 mm (larger is faster)
[xsn] x switch min 3 [0=off,1=homing,2=limit,3=limit+homing]
[xsx] x switch max 2 [0=off,1=homing,2=limit,3=limit+homing]
[xsv] x search velocity 2000 mm/min
[xlv] x latch velocity 100 mm/min
[xlb] x latch backoff 8.000 mm
[xzb] x zero backoff 2.000 mm
[yam] y axis mode 1 [standard]
[yvm] y velocity maximum 10000 mm/min
[yfr] y feedrate maximum 10000 mm/min
[ytn] y travel minimum 0.000 mm
[ytm] y travel maximum 400.000 mm
[yjm] y jerk maximum 1000 mm/min^3 * 1 million
[yjh] y jerk homing 2000 mm/min^3 * 1 million
[yjd] y junction deviation 0.0100 mm (larger is faster)
[ysn] y switch min 3 [0=off,1=homing,2=limit,3=limit+homing]
[ysx] y switch max 2 [0=off,1=homing,2=limit,3=limit+homing]
[ysv] y search velocity 2000 mm/min
[ylv] y latch velocity 100 mm/min
[ylb] y latch backoff 8.000 mm
[yzb] y zero backoff 2.000 mm
[zam] z axis mode 1 [standard]
[zvm] z velocity maximum 5000 mm/min
[zfr] z feedrate maximum 5000 mm/min
[ztn] z travel minimum -120.000 mm
[ztm] z travel maximum 80.000 mm
[zjm] z jerk maximum 500 mm/min^3 * 1 million
[zjh] z jerk homing 500 mm/min^3 * 1 million
[zjd] z junction deviation 0.0100 mm (larger is faster)
[zsn] z switch min 0 [0=off,1=homing,2=limit,3=limit+homing]
[zsx] z switch max 3 [0=off,1=homing,2=limit,3=limit+homing]
[zsv] z search velocity 1000 mm/min
[zlv] z latch velocity 100 mm/min
[zlb] z latch backoff 4.000 mm
[zzb] z zero backoff 2.000 mm
[aam] a axis mode 1 [standard]
[avm] a velocity maximum 50000 deg/min
[afr] a feedrate maximum 200000 deg/min
[atn] a travel minimum -1.000 deg
[atm] a travel maximum 400.000 deg
[ajm] a jerk maximum 5000 deg/min^3 * 1 million
[ajh] a jerk homing 5000 deg/min^3 * 1 million
[ajd] a junction deviation 0.0100 deg (larger is faster)
[ara] a radius value 5.3052 deg
[asn] a switch min 0 [0=off,1=homing,2=limit,3=limit+homing]
[asx] a switch max 0 [0=off,1=homing,2=limit,3=limit+homing]
[asv] a search velocity 2000 deg/min
[alv] a latch velocity 2000 deg/min
[alb] a latch backoff 5.000 deg
[azb] a zero backoff 2.000 deg
[bam] b axis mode 0 [disabled]
[bvm] b velocity maximum 3600 deg/min
[bfr] b feedrate maximum 3600 deg/min
[btn] b travel minimum -1.000 deg
[btm] b travel maximum -1.000 deg
[bjm] b jerk maximum 20 deg/min^3 * 1 million
[bjd] b junction deviation 0.0100 deg (larger is faster)
[bra] b radius value 1.0000 deg
[cam] c axis mode 0 [disabled]
[cvm] c velocity maximum 3600 deg/min
[cfr] c feedrate maximum 3600 deg/min
[ctn] c travel minimum -1.000 deg
[ctm] c travel maximum -1.000 deg
[cjm] c jerk maximum 20 deg/min^3 * 1 million
[cjd] c junction deviation 0.0100 deg (larger is faster)
[cra] c radius value 1.0000 deg
[p1frq] pwm frequency 100 Hz
[p1csl] pwm cw speed lo 1000 RPM
[p1csh] pwm cw speed hi 2000 RPM
[p1cpl] pwm cw phase lo 0.125 [0..1]
[p1cph] pwm cw phase hi 0.200 [0..1]
[p1wsl] pwm ccw speed lo 1000 RPM
[p1wsh] pwm ccw speed hi 2000 RPM
[p1wpl] pwm ccw phase lo 0.125 [0..1]
[p1wph] pwm ccw phase hi 0.200 [0..1]
[p1pof] pwm phase off 0.100 [0..1]
[g54x] g54 x offset 0.000 mm
[g54y] g54 y offset 0.000 mm
[g54z] g54 z offset 0.000 mm
[g54a] g54 a offset 0.000 deg
[g54b] g54 b offset 0.000 deg
[g54c] g54 c offset 0.000 deg
[g55x] g55 x offset 145.000 mm
[g55y] g55 y offset 160.000 mm
[g55z] g55 z offset 0.000 mm
[g55a] g55 a offset 0.000 deg
[g55b] g55 b offset 0.000 deg
[g55c] g55 c offset 0.000 deg
[g56x] g56 x offset 0.000 mm
[g56y] g56 y offset 0.000 mm
[g56z] g56 z offset 0.000 mm
[g56a] g56 a offset 0.000 deg
[g56b] g56 b offset 0.000 deg
[g56c] g56 c offset 0.000 deg
[g57x] g57 x offset 0.000 mm
[g57y] g57 y offset 0.000 mm
[g57z] g57 z offset 0.000 mm
[g57a] g57 a offset 0.000 deg
[g57b] g57 b offset 0.000 deg
[g57c] g57 c offset 0.000 deg
[g58x] g58 x offset 0.000 mm
[g58y] g58 y offset 0.000 mm
[g58z] g58 z offset 0.000 mm
[g58a] g58 a offset 0.000 deg
[g58b] g58 b offset 0.000 deg
[g58c] g58 c offset 0.000 deg
[g59x] g59 x offset 0.000 mm
[g59y] g59 y offset 0.000 mm
[g59z] g59 z offset 0.000 mm
[g59a] g59 a offset 0.000 deg
[g59b] g59 b offset 0.000 deg
[g59c] g59 c offset 0.000 deg
[g92x] g92 x offset 0.000 mm
[g92y] g92 y offset 0.000 mm
[g92z] g92 z offset 0.000 mm
[g92a] g92 a offset 0.000 deg
[g92b] g92 b offset 0.000 deg
[g92c] g92 c offset 0.000 deg
[g28x] g28 x position 0.000 mm
[g28y] g28 y position 0.000 mm
[g28z] g28 z position 0.000 mm
[g28a] g28 a position 0.000 deg
[g28b] g28 b position 0.000 deg
[g28c] g28 c position 0.000 deg
[g30x] g30 x position 0.000 mm
[g30y] g30 y position 0.000 mm
[g30z] g30 z position 0.000 mm
[g30a] g30 a position 0.000 deg
[g30b] g30 b position 0.000 deg
[g30c] g30 c position 0.000 deg
- If you are using TinyG G2 you may need to set DTR and RTS. You can do this from the driver configuration UI in Machine Setup.
- If your pick and place commands fire before moves are complete, make sure you are using
move-to-complete-regexas shown in the configuration above. Sometimes this is also not sufficient. After connecting to the machine, go to Machine Setup -> Driver -> GCodeDriver -> Console. Send the message "$$", which will cause the TinyG to reply with its complete configuration. After this, moves should be reported correctly. This process needs to be done each time the TinyG starts up.
TinyG has some quirks that make it hard to use for pick and place. I want to look more into these later, so I am putting these references here so I can come back to it:
- G4P0 does not wait for end of movement: https://github.com/synthetos/g2/issues/138
- Movement status not always sent. I think this happens for small moves, mostly: https://github.com/synthetos/g2/issues/139
- Different Gcode required for small moves: https://groups.google.com/forum/#!msg/openpnp/j-TAyyZ9XQ0/NIl9ZUNnBwAJ
- Also related to small moves: https://www.synthetos.com/topics/g0-minimum-movement/
- Alden's answer to Juha's query about this: https://www.synthetos.com/topics/g0-minimum-movement/#post-3790 To me this seems like a bug in TinyG that should be fixed. There is no guarantee that another move is coming, so not moving at all seems like an error.
- It is possible to use M2 for end of move detection, example using lazy Json - https://justpaste.it/1d3ht
- it have problems on long moves, doing erratic move (driving to E-stop if installed) , this only over 40cm
- coordinate need to be given two times, otherwise it don't necessary position on correct location - https://github.com/synthetos/TinyG/issues/178
- gcode backlash can be used to solve the near motion problem.
- tinyg works, and with shared C patch it can drive two C motors using one driver
- It is not easy to setup and it have definitive several programming error that depend on the version used, need to be avoided. If you can, avoid this controller.
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