Rotary on a Jackpot

Dreyfus · September 29, 2025, 3:21pm

What have you got in your config for the rotary axis?

Britt · September 29, 2025, 3:45pm

This is for the A axis. Lightburn uses it.

  a:
    steps_per_mm: 6.944
    max_rate_mm_per_min: 20000
    acceleration_mm_per_sec2: 500.00
    max_travel_mm: 720.000
    soft_limits: false
    homing:
      cycle: 0
      positive_direction: true
      mpos_mm: 0
      feed_mm_per_min: 600.000
      seek_mm_per_min: 300.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100

    motor0:
      limit_neg_pin: NO_PIN
      limit_pos_pin: NO_PIN
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 0.1
      tmc_2209:
        uart_num: 1
        addr: 3
        cs_pin: i2so.14
        r_sense_ohms: 0.110
        run_amps: 0.50
        hold_amps: 0.40
        homing_amps: 0.40
        microsteps: 8
        stallguard: 0
        stallguard_debug: false
        toff_disable: 0
        toff_stealthchop: 5
        toff_coolstep: 3
        run_mode: StealthChop
        homing_mode: StealthChop
        use_enable: false
        step_pin: I2SO.13
        direction_pin: I2SO.12
        disable_pin: I2SO.15

Lightburn rotary settings:

Dreyfus · September 29, 2025, 4:57pm

Hmm, how’s that work on a lowrider where a is the Y1 driver - if you enable rotary does it know to disable y0?

Edit: this is all getting off topic, sorry Ryan.

dos · September 29, 2025, 5:26pm

A is just the silkscreen on the board, no more. Y1 is just whatever driver coordinates (address #, etc.) that are configured for motor1 under Y: in the config.yaml.

My A axis is actually mapped to a gpio pin for a servo.

Britt · September 29, 2025, 7:43pm

I changed my X1 driver to C on my MPCNC. It should work the same for you to change your Y1 driver to C.

Should we start a new thread @vicious1 ?

Dreyfus · September 29, 2025, 8:36pm

Thanks boss.

I have a 6th tmc2209 driver on the way - once it arrives I’ll put it in the remaining slot.

So I’ll need to define that slot -silkscreened as C - as slot A in my config then.

Britt · September 29, 2025, 8:55pm

I tried that initially and it didn’t work so I swapped C and A in the config. I can post one for you to look at and try out if you want.

@dos do you use Lightburn with a rotary plugged in to C?

Dreyfus · September 29, 2025, 8:57pm

Yes please that’d be great

dos · September 29, 2025, 8:59pm

Yes, but defined as A in the config.

Dreyfus · September 29, 2025, 9:03pm

If we can come up with a succinct to explanation of all this it’d be good reference for anyone else trying.

Then someone smarter than me could make an online yaml builder that adds/comments out the relevant sections based on user form inputs:

Laser fitted: tick
Rotary axis: tick

Britt · September 29, 2025, 9:26pm

Here is the config with A-rotary and C- Y motor 1.

config-LR4RotaryA.yaml.zip (2.2 KB)

Britt · September 29, 2025, 9:29pm

These are my motor definitions for A and C. Would you please look at them and tell me how they compare to yours?

A: (rotary)

    #A
  a:
    steps_per_mm: 6.944
    max_rate_mm_per_min: 20000
    acceleration_mm_per_sec2: 500.00
    max_travel_mm: 720.000
    soft_limits: false
    homing:
      cycle: 0
      positive_direction: true
      mpos_mm: 0
      feed_mm_per_min: 600.000
      seek_mm_per_min: 300.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100

    motor0:
      limit_neg_pin: NO_PIN
      limit_pos_pin: NO_PIN
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 0.1
      tmc_2209:
        uart_num: 1
        addr: 3
        cs_pin: i2so.14
        r_sense_ohms: 0.110
        run_amps: 0.50
        hold_amps: 0.40
        homing_amps: 0.40
        microsteps: 8
        stallguard: 0
        stallguard_debug: false
        toff_disable: 0
        toff_stealthchop: 5
        toff_coolstep: 3
        run_mode: StealthChop
        homing_mode: StealthChop
        use_enable: false
        step_pin: I2SO.13
        direction_pin: I2SO.12
        disable_pin: I2SO.15

C (Y motor 1)

    #C
    motor1:
      limit_neg_pin: gpio.35:high
      limit_pos_pin: NO_PIN
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 4.000
      tmc_2209:
        uart_num: 1
        addr: 3
        cs_pin: i2so.22
        r_sense_ohms: 0.110
        run_amps: 0.800
        homing_amps: 0.800
        hold_amps: 0.700
        microsteps: 8
        stallguard: 0
        stallguard_debug: false
        toff_disable: 0
        toff_stealthchop: 5
        toff_coolstep: 3
        run_mode: StealthChop
        homing_mode: StealthChop
        use_enable: false
        step_pin: I2SO.21
        direction_pin: I2SO.20
        disable_pin: I2SO.23

dos · September 29, 2025, 9:38pm

Will do. Poke me if I don’t within a week. I’m currently 400KM from home.

Dreyfus · September 30, 2025, 7:58pm

Driver is here and I’ve put into the remaining slot - C on the board.

[MSG:ERR: A Axis TMC driver not detected - expected 0x21 got 0x0]

Any ideas?

$ss
[MSG:INFO: FluidNC v3.9.5 https://github.com/bdring/FluidNC]
[MSG:INFO: Compiled with ESP32 SDK:v4.4.7-dirty]
[MSG:INFO: Local filesystem type is littlefs]
[MSG:INFO: Configuration file:config-PL.yaml]
[MSG:INFO: Machine LowRider]
[MSG:INFO: Board Jackpot TMC2209]
[MSG:INFO: UART1 Tx:gpio.0 Rx:gpio.4 RTS:NO_PIN Baud:115200]
[MSG:INFO: UART2 Tx:gpio.15 Rx:gpio.12 RTS:NO_PIN Baud:115200]
[MSG:INFO: uart_channel2 created at report interval: 75]
[MSG:INFO: I2SO BCK:gpio.22 WS:gpio.17 DATA:gpio.21Min Pulse:2us]
[MSG:INFO: SPI SCK:gpio.18 MOSI:gpio.23 MISO:gpio.19]
[MSG:INFO: SD Card cs_pin:gpio.5 detect:NO_PIN freq:20000000]
[MSG:INFO: Stepping:I2S_STATIC Pulse:2us Dsbl Delay:0us Dir Delay:1us Idle Delay:255ms]
[MSG:INFO: Axis count 4]
[MSG:INFO: Axis X (3.000,1263.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     tmc_2209 UART1 Addr:0 CS:NO_PIN Step:I2SO.2 Dir:I2SO.1 Disable:I2SO.0 R:0.110]
[MSG:INFO:  X Neg Limit gpio.25]
[MSG:INFO: Axis Y (3.000,2483.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     tmc_2209 UART1 Addr:1 CS:NO_PIN Step:I2SO.5 Dir:I2SO.4 Disable:I2SO.7 R:0.110]
[MSG:INFO:  Y Neg Limit gpio.33]
[MSG:INFO:   Motor1]
[MSG:INFO:     tmc_2209 UART1 Addr:3 CS:I2SO.14 Step:I2SO.13 Dir:I2SO.12 Disable:I2SO.15 R:0.110]
[MSG:INFO:  Y2 Neg Limit gpio.35]
[MSG:INFO: Axis Z (-297.000,3.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     tmc_2209 UART1 Addr:2 CS:NO_PIN Step:I2SO.10 Dir:I2SO.9 Disable:I2SO.8 R:0.110]
[MSG:INFO:  Z Pos Limit gpio.32]
[MSG:INFO:   Motor1]
[MSG:INFO:     tmc_2209 UART1 Addr:3 CS:I2SO.19 Step:I2SO.18 Dir:I2SO.17 Disable:I2SO.16 R:0.110]
[MSG:INFO:  Z2 Pos Limit gpio.34]
[MSG:INFO: Axis A (-720.000,0.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     tmc_2209 UART1 Addr:3 CS:I2SO.22 Step:I2SO.21 Dir:I2SO.20 Disable:I2SO.23 R:0.110]
[MSG:INFO: X Axis driver test passed]
[MSG:INFO: Y Axis driver test passed]
[MSG:INFO: Y2 Axis driver test passed]
[MSG:INFO: Z Axis driver test passed]
[MSG:INFO: Z2 Axis driver test passed]
[MSG:ERR: A Axis TMC driver not detected - expected 0x21 got 0x0]
[MSG:INFO: Kinematic system: Cartesian]
[MSG:INFO: Connecting to STA SSID:xxxxxxxxx]
[MSG:INFO: Connecting.]
[MSG:INFO: Connecting..]
[MSG:INFO: Connected - IP is xxxxxxxxxxx]
[MSG:INFO: WiFi on]
[MSG:INFO: Start mDNS with hostname:http://fluidnc.local/]
[MSG:INFO: HTTP started on port 80]
[MSG:INFO: Telnet started on port 23]
[MSG:INFO: Laser Ena:NO_PIN Out:gpio.26 Freq:5000Hz Period:8191]
[MSG:INFO: Flood coolant gpio.2]
[MSG:INFO: Mist coolant gpio.16]
[MSG:INFO: Probe gpio.36:low]
ok

Heres my yaml for A:

#A
  a:
    steps_per_mm: 6.944
    max_rate_mm_per_min: 20000
    acceleration_mm_per_sec2: 500.00
    max_travel_mm: 720.000
    soft_limits: false
    homing:
      cycle: 0
      positive_direction: true
      mpos_mm: 0
      feed_mm_per_min: 600.000
      seek_mm_per_min: 300.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100

    motor0:
      limit_neg_pin: NO_PIN
      limit_pos_pin: NO_PIN
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 0.1
      tmc_2209:
        uart_num: 1
        addr: 3
        cs_pin: I2SO.22
        r_sense_ohms: 0.110
        run_amps: 0.50
        hold_amps: 0.40
        homing_amps: 0.40
        microsteps: 8
        stallguard: 0
        stallguard_debug: false
        toff_disable: 0
        toff_stealthchop: 5
        toff_coolstep: 3
        run_mode: StealthChop
        homing_mode: StealthChop
        use_enable: false
        step_pin: I2SO.21
        direction_pin: I2SO.20
        disable_pin: I2SO.23

Dreyfus · September 30, 2025, 8:23pm

never mind. Found the problem.

Another donation to the parts pile.

Britt · September 30, 2025, 8:42pm

Bummer! I hope it wasn’t very much.

Dreyfus · September 30, 2025, 9:18pm

Nah, just annoying. Ordered another but it’ll not be here till the weekend.

MakerJim · September 30, 2025, 9:22pm

I had a 2208 in my parts bin somehow (I have no idea how it got there; I only order 2209s at this point.). Kicked my butt for days before I found it. You got it rather quickly

Dreyfus · September 30, 2025, 9:38pm

Perfect example of the 3 golden rules of troubleshooting:

Don’t trust anything
(how do I know the driver itself isn’t faulty)

Try the easiest thing first
(Put it in a known good configured slot - still doesn’t work)

It’s probably user error
(Ordered the wrong one)

Dreyfus · October 2, 2025, 4:59pm

Progress. the new stepper arrived, installed and now:

[MSG:INFO: A Axis driver test passed]

I tried enabling rotary mode in lightburn and using the Test button and the Stepper just shuddered, so somethings not quite right but getting closer

$ss
[MSG:INFO: FluidNC v3.9.5 https://github.com/bdring/FluidNC]
[MSG:INFO: Compiled with ESP32 SDK:v4.4.7-dirty]
[MSG:INFO: Local filesystem type is littlefs]
[MSG:INFO: Configuration file:config-PL.yaml]
[MSG:INFO: Machine LowRider]
[MSG:INFO: Board Jackpot TMC2209]
[MSG:INFO: UART1 Tx:gpio.0 Rx:gpio.4 RTS:NO_PIN Baud:115200]
[MSG:INFO: UART2 Tx:gpio.15 Rx:gpio.12 RTS:NO_PIN Baud:115200]
[MSG:INFO: uart_channel2 created at report interval: 75]
[MSG:INFO: I2SO BCK:gpio.22 WS:gpio.17 DATA:gpio.21Min Pulse:2us]
[MSG:INFO: SPI SCK:gpio.18 MOSI:gpio.23 MISO:gpio.19]
[MSG:INFO: SD Card cs_pin:gpio.5 detect:NO_PIN freq:20000000]
[MSG:INFO: Stepping:I2S_STATIC Pulse:2us Dsbl Delay:0us Dir Delay:1us Idle Delay:255ms]
[MSG:INFO: Axis count 4]
[MSG:INFO: Axis X (3.000,1263.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     tmc_2209 UART1 Addr:0 CS:NO_PIN Step:I2SO.2 Dir:I2SO.1 Disable:I2SO.0 R:0.110]
[MSG:INFO:  X Neg Limit gpio.25]
[MSG:INFO: Axis Y (3.000,2483.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     tmc_2209 UART1 Addr:1 CS:NO_PIN Step:I2SO.5 Dir:I2SO.4 Disable:I2SO.7 R:0.110]
[MSG:INFO:  Y Neg Limit gpio.33]
[MSG:INFO:   Motor1]
[MSG:INFO:     tmc_2209 UART1 Addr:3 CS:I2SO.14 Step:I2SO.13 Dir:I2SO.12 Disable:I2SO.15 R:0.110]
[MSG:INFO:  Y2 Neg Limit gpio.35]
[MSG:INFO: Axis Z (-297.000,3.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     tmc_2209 UART1 Addr:2 CS:NO_PIN Step:I2SO.10 Dir:I2SO.9 Disable:I2SO.8 R:0.110]
[MSG:INFO:  Z Pos Limit gpio.32]
[MSG:INFO:   Motor1]
[MSG:INFO:     tmc_2209 UART1 Addr:3 CS:I2SO.19 Step:I2SO.18 Dir:I2SO.17 Disable:I2SO.16 R:0.110]
[MSG:INFO:  Z2 Pos Limit gpio.34]
[MSG:INFO: Axis A (-720.000,0.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     tmc_2209 UART1 Addr:3 CS:I2SO.22 Step:I2SO.21 Dir:I2SO.20 Disable:I2SO.23 R:0.110]
[MSG:INFO: X Axis driver test passed]
[MSG:INFO: Y Axis driver test passed]
[MSG:INFO: Y2 Axis driver test passed]
[MSG:INFO: Z Axis driver test passed]
[MSG:INFO: Z2 Axis driver test passed]
[MSG:INFO: A Axis driver test passed]
[MSG:INFO: Kinematic system: Cartesian]
[MSG:INFO: Connecting to STA SSID:xxxxxxxxxxx]
[MSG:INFO: Connecting.]
[MSG:INFO: Connecting..]
[MSG:INFO: Connected - IP is xxxxxxxxxx]
[MSG:INFO: WiFi on]
[MSG:INFO: Start mDNS with hostname:http://fluidnc.local/]
[MSG:INFO: HTTP started on port 80]
[MSG:INFO: Telnet started on port 23]
[MSG:INFO: Laser Ena:NO_PIN Out:gpio.26 Freq:5000Hz Period:8191]
[MSG:INFO: Flood coolant gpio.2]
[MSG:INFO: Mist coolant gpio.16]
[MSG:INFO: Probe gpio.36:low]
ok

I’m not 100% sure of these settings

tmc_2209 UART1 Addr:3 CS:I2SO.22 Step:I2SO.21 Dir:I2SO.20 Disable:I2SO.23 R:0.110