Stepper spindle and g33/G95 issues

[R-H666]

Good evening, hoping you can help as I'm struggling to my my project working. I'm trying to set up a coil wider using a synced spindle with G95 commands.

I have a bare IMXRT1062 with external optos to protect for 5v stepper signals and using the T14U5XBB-ss pin map. Initially I used the web builder to set up PWM spindle with a dc motor and 128 ppr encoder but that keeps making the Io sender crash.

I changed to the stepper spindle by compiling with Arduino IDE and setting default spindle to stepper

    _/*! @name $395 - Setting_SpindleType
    */
    ///@{
    #if !defined DEFAULT_SPINDLE || defined __DOXYGEN__
    #define DEFAULT_SPINDLE SPINDLE_STEPPER_

The spindle works fine with M3,4&5 commands and with PPR set to 0 it uses the stepper pulses for $sd and if PPR is set to 128 it uses the encoder. Spindle at speed seems to work for starting and running the spindle but as soon as a G33 or G95 command is used I get a error 14 "spindle not at speed"

Have I missed a setting or this an issue with the experimental spindle?

[terjeio]

Which build? It is in the $I output.

[R-H666]

Thanks for getting back to me Terjeio

This is the web builder version with PWM that crashes

[VER:1.1f.20250910:]
[OPT:VNMSL,100,1024,3,0]
[AXS:3:XYZ]
[NEWOPT:ENUMS,RT+,NOPROBE,ES,LATHE,REBOOT,TC,SS,SED,PID]
[FIRMWARE:grblHAL]
[SIGNALS:HSE]
[NVS STORAGE:*FLASH]
[FREE MEMORY:480K]
[DRIVER:iMXRT1062]
[DRIVER VERSION:250910]
[DRIVER OPTIONS:USB.1]
[BOARD:T41U5XBB]
[AUX IO:6,3,0,0]

This is the Arduino compiled version
[VER:1.1f.20250910:]
[OPT:VNMSL,100,1024,4,0]
[AXS:4:XYZA]
[NEWOPT:ENUMS,RT+,NOPROBE,ES,LATHE,REBOOT,TC,SS,SED,PID]
[FIRMWARE:grblHAL]
[SIGNALS:HSE]
[SPINDLES:2]
[NVS STORAGE:*FLASH]
[FREE MEMORY:480K]
[DRIVER:iMXRT1062]
[DRIVER VERSION:250910]
[DRIVER OPTIONS:USB.2]
[BOARD:T41U5XBB]
[AUX IO:6,6,0,0]

G33 or G95 causes - Alarm:14 - Spindle at speed timeout. Clear before continuing.

I think I have I tried so many options I have got a bit lost.

[terjeio]

When I test with a STM32F4 board it works for me, no alarm 14 (with stepper spindle, no encoder).
I have set 430=5 (spindle at speed tolerance) - are you using that or do you have any spindle delay configured?
There is a 5 second timeout on spindle sync commands while waiting for two index pulses when spindle synced motion is commanded (G33, G76 or G95). Is alarm 14 delayed 5 seconds after G33 or is it less?
What is the $SD output after the alarm?

It may help if you can share your settings and gcode that fails.

[R-H666]

I have the same settings for 340 = 5 and ppr=0

If I run the spindle from MDI with a series of M$,M5 commands then the $SD is reporting both index and position change

$sr
$sd
[SPINDLEENCODER:0,0,0,0.000]
m4
m5
$sd
[SPINDLEENCODER:3,1360,0,3.400]
m4
m5
$sd
[SPINDLEENCODER:9,3932,0,9.830]

If I then add a G33 from MDI it stops the spindle and after 5 sec returns the error 14 after a reset $sr shows index and position change

m4 s100
g33 z2 k1
Alarm:14 - Spindle at speed timeout. Clear before continuing.
GrblHAL 1.1f ['$' or '$HELP' for help]
[MSG:'$H'|'$X' to unlock]
Alarm:14 - Spindle at speed timeout. Clear before continuing.
[VER:1.1f.20250910:]
[OPT:VNMSL,100,1024,4,0]
[AXS:4:XYZA]
[NEWOPT:ENUMS,RT+,NOPROBE,ES,LATHE,REBOOT,TC,SED,PID]
[FIRMWARE:grblHAL]
[SIGNALS:HSE]
[SPINDLES:2]
[NVS STORAGE:*FLASH]
[FREE MEMORY:480K]
[DRIVER:iMXRT1062]
[DRIVER VERSION:250910]
[DRIVER OPTIONS:USB.2]
[BOARD:T41U5XBB]
[AUX IO:6,6,0,0]
[G54:0.000,0.000,0.000,0.000]
[G55:0.000,0.000,0.000,0.000]
[G56:0.000,0.000,0.000,0.000]
[G57:0.000,0.000,0.000,0.000]
[G58:0.000,0.000,0.000,0.000]
[G59:0.000,0.000,0.000,0.000]
[G59.1:0.000,0.000,0.000,0.000]
[G59.2:0.000,0.000,0.000,0.000]
[G59.3:0.000,0.000,0.000,0.000]
[G28:0.000,0.000,0.000,0.000]
[G30:0.000,0.000,0.000,0.000]
[G92:0.000,0.000,0.000,0.000]
[TLO:0.000,0.000,0.000,0.000]
[PRB:0.000,0.000,0.000,0.000:0]
$sd
[SPINDLEENCODER:12,4839,0,12.097]

$pins
[PIN:16,Feed hold]
[PIN:17,Cycle start]
[PIN:35,Emergency stop]
[PIN:20,X limit min]
[PIN:21,Y limit min]
[PIN:22,Z limit min]
[PIN:23,A limit min]
[PIN:34,Spindle index]
[PIN:14,Spindle pulse]
[PIN:36,Aux in 0,P0]
[PIN:30,Aux in 1,P1]
[PIN:41,Aux in 2,P2]
[PIN:28,Aux in 3,P3]
[PIN:29,Aux in 4,P4]
[PIN:15,Aux in 5,P5]
[PIN:2,X step]
[PIN:4,Y step]
[PIN:6,Z step]
[PIN:8,A step]
[PIN:3,X dir]
[PIN:5,Y dir]
[PIN:7,Z dir]
[PIN:9,A dir]
[PIN:10,X enable]
[PIN:40,Y enable]
[PIN:39,Z enable]
[PIN:38,A enable]
[PIN:18,Mist]
[PIN:19,Flood]
[PIN:31,Aux out 0,P0]
[PIN:32,Aux out 1,P1]
[PIN:33,Aux out 2,P2]
[PIN:12,Aux out 3,P3]
[PIN:11,Aux out 4,P4]
[PIN:13,Aux out 5,P5]
[PIN:0,RX,UART1]
[PIN:1,TX,UART1]

How do I get the settings?

[R-H666]

Found it, need to check the verbose box with $$

$$
$0=5.0
$1=25
$2=0
$3=0
$4=15
$5=0
$10=8703
$11=0.010
$12=0.002
$13=0
$14=70
$15=0
$16=0
$17=0
$18=0
$20=0
$21=0
$22=0
$23=0
$24=25.0
$25=500.0
$26=250
$27=1.000
$28=0.100
$29=0.0
$30=1000.000
$31=0.000
$32=2
$37=0
$38=0
$39=1
$40=0
$41=0
$42=2
$43=1
$44=4
$45=3
$46=0
$47=0
$56=5.0
$57=100.0
$58=-5.0
$59=500.0
$60=0
$62=0
$63=3
$64=0
$100=250.00000
$101=250.00000
$102=250.00000
$103=400.00000
$110=500.000
$111=500.000
$112=500.000
$113=500.000
$120=10.000
$121=10.000
$122=10.000
$123=10.000
$130=200.000
$131=200.000
$132=200.000
$133=0.000
$340=5.0
$341=0
$342=30.0
$343=25.0
$344=200.0
$345=200.0
$346=1
$370=0
$372=0
$376=1
$384=0
$392=4.0
$393=1.0
$394=0.0
$398=100
$481=0
$484=1
$485=0
$486=0
$511=0
$538=0
$539=0.0
$673=0.0
$676=15
$677=1
$680=0
ok

[terjeio]

Thanks, fix committed.

[R-H666]

Thank you, one step closer.

That has solved the error 14 and and G33 and G96 seem to work for one cycle. As soon as I try another it crashes IO sender with no error message.

This code will run once then crash
G21
G95 F1
S200 M3
G01 Z5 F0.1
M5
M30

This code runs the first move to Z4.961 and then crashes
G21
G95 F1
S200 M3
G01 Z5 F0.1
G01 Z0 F0.1
M5
M30

$i
[VER:1.1f.20250927:]
[OPT:VNMSL,100,1024,4,0]
[AXS:4:XYZA]
[NEWOPT:ENUMS,RT+,NOPROBE,ES,LATHE,REBOOT,TC,SED,PID]
[FIRMWARE:grblHAL]
[SIGNALS:HSE]
[NVS STORAGE:*FLASH]
[FREE MEMORY:480K]
[DRIVER:iMXRT1062]
[DRIVER VERSION:250910]
[DRIVER OPTIONS:USB.2]
[BOARD:T41U5XBB]
[AUX IO:6,6,0,0]

$$
$0=5.0
$1=25
$2=0
$3=0
$4=15
$5=0
$10=8703
$11=0.010
$12=0.002
$13=0
$14=70
$15=0
$16=0
$17=0
$18=0
$20=0
$21=0
$22=0
$23=0
$24=25.0
$25=500.0
$26=250
$27=1.000
$28=0.100
$29=0.0
$30=1000.000
$31=0.000
$32=2
$37=0
$38=0
$39=1
$40=0
$41=0
$42=2
$43=1
$44=4
$45=3
$46=0
$47=0
$56=5.0
$57=100.0
$58=-5.0
$59=500.0
$60=0
$62=0
$63=3
$64=0
$100=250.00000
$101=250.00000
$102=1600.00000
$103=400.00000
$110=500.000
$111=500.000
$112=5000.000
$113=500.000
$120=10.000
$121=10.000
$122=300.000
$123=10.000
$130=200.000
$131=200.000
$132=200.000
$133=0.000
$340=5.0
$341=0
$342=30.0
$343=25.0
$344=200.0
$345=200.0
$346=1
$370=0
$372=0
$376=0
$384=0
$392=4.0
$393=1.0
$394=0.0
$398=100
$481=0
$484=1
$485=0
$486=0
$538=0
$539=0.0
$673=0.0
$676=15
$677=1
$680=0
ok

[terjeio]

It is the controller that crashes... I have fixed it and will commit tomorrow, bedtime now.

[terjeio]

Committed now.

[R-H666]

Perfect, thank you for quick replies and a great programme.