- New dual motor support feature for gantry CNC machines. An axis motor is efficiently mirrored to a dedicated set of step and direction pins (D12/D13 or A3/A4) with no detectable loss of performance. Primarily used to independently home both sides of a dual-motor gantry with a pair of limit switches (second shared with Z-axis limit pin). When the limit switches are setup correctly, Grbl will self-square the gantry (and stay square if $1=255 is programmed). Beware use at your own risk! Grbl is not responsible for any damage to any machines.
- Dual axis motors is only supported on the X-axis or Y-axis. And deletes the spindle direction(D13) and optional coolant mist (A4) features to make room for the dual motor step and direction pins.
- Dual axis homing will automatically abort homing if one limit switch triggers and travels more than 5% (default) of the non-dual axis max travel setting. For example, if the X-axis has dual motors and one X-axis triggers during homing, Grbl will abort 5% of the Y-axis max travel and the other X-axis limit fails to trigger. This will help keep any misconfigurations or failed limit switches from damaging the machine, but not completely eliminate this risk. Please take all precautions and test thouroughly before using this.
- Dual axis motors supports two configurations:
- Support for Arduino CNC shield clones. For these, step/dir on pins D12/D13, and spindle enable is moved to A3 (old coolant enable), while coolant enable is moved to A4 (SDA pin). Variable spindle/laser mode option is NOT supported for this shield.
- Support for Protoneer CNC Shield v3.51. Step/dir on pins A3/A4, and coolant enable is moved to D13 (old spindle direction pin). Variable spindle/laser mode option IS supported for this shield.
- Added Bob's CNC E3 and E4 CNC machine defaults.
[new] Altered the way default settings are stored and restored. Saved about 300 bytes(!) of flashed size. Should free up enough for certain configurations of CoreXY machines.
[fix] When the optional M7 mist coolant IO was enabled, coolant overrides was not disabling correctly.
[fix] Coolant override states was not restored correctly after a parking motion in certain situations. It would restore programmed state, rather than current overridden state.
[fix] Now allow coolant overrides to operate during jogging motion.
[fix] Invert control pin mask typo.
[new] Added a new build info feedback mechanism for enabling the safety door input pin.
[fix] In the previous hot fix, there was still (rarer) potential for
very small floating point errors incorrectly handle an override
deceleration and crash Grbl. Re-factored the if-then statement in terms
of speed changes, rather than distance, to completely eliminate the
issue.
[fix] Squashed a very rare bug when lowering the feedrate (or rapid) override. When in the very strict set of circumstances with acceleration settings, override step size, and current speed, an internal calculation would cause Grbl to crash. The fix was an overlooked equality statement that should have been a less than or equal, not a less than.
[new] The stream.py streaming script now has a check-mode option, where it will place Grbl in $C check mode automatically and then stream the g-code program. It's a very fast way to check if the g-code program has any errors.
[fix] The debug variable was not initialized if the debug option was enabled in config.h
[fix] Updated error_codes CSV file to the same format as the others.
[new] A nonlinear spindle speed/PWM output option via a piecewise
linear fit model. Enabled through config.h and solved by a Python
script in /doc/script
[new] fit_nonlinear_spindle.py. A solver script that can be run on
http://repl.it for free. No Python install necessary. All instructions
are available in the script file comments.
[new] stream.py has been updated to include status reports feedback at
1 second interval.
[fix] stream.py bug fix with verbose mode disabled.
- When trying to enable laser mode with $32=1 and VARIABLE_SPINDLE is
disabled, the error code shown was improperly stating it was a homing
failure. Added an new error code specifically for the laser mode being
disabled without VARIABLE_SPINDLE.
- Moved Grbl logo files to a separate repo.
- Added PocketNC FR4 defaults. Needs some additional work though to be
compatible.
- Updated README image links.
[fix] When M7 and M8 are both enabled, $G report would show `M78`,
rather than `M7 M8`. This only effects systems that enable M7 mist
coolant in config.h. Not the default build.
- Restrict M3 forced updates when there is a motion block with a
coincident target. Force syncing of the spindle state can lead to some
pauses during a job that has coincident targets. That’s not
particularly desirable. This ensures M4 dynamic mode is not effected by
this force-sync.
[fix] When in M3 constant laser power mode, a change from G0 to G1
would not set the laser on, if G1 was passed with a coincident target.
Motion controller now checks for a coincident target situation and will
force a spindle sync when detected.
- [new] Added total available planner buffer blocks (15 shown, but
there are 16. one is used by the ring buffer and to execute system
motions) and serial RX buffer bytes. This information is useful for
GUIs to setup and optimize their streaming protocols easily.
[doc] Updated the interface document to reflect the change.
Anders Sandstrom