TinyG Shapeoko Setup

Alden Hart edited this page Mar 18, 2017 · 44 revisions
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This page provides and example setup for a reasonably well tuned 3 axis or 4 axis Shapeoko with 375mm slides. Depending on your mechanics you may need to change values, but this should offer a reasonable starting point. Please see the TinyG Tuning Page for some details about tuning up the machine.

The settings on this page are listed for TinyG build 412.01 and higher. If you have build 380.08 (or lower) these settings are listed when there are differences. You can tell what build you are on by typing $fb at the command prompt, or looking at the build number display in tgfx. Better yet, update to 412.01.

Settings use the following format by way of example:

  • $jd=0.01
  • $xvm=16000

All settings are in mm, so be sure you are in mm mode. If in doubt enter G21 at the command line.

Settings can also be entered in JSON, which is a better way to do it for machine-to-machine communications:

  • {"jd":0.01}
  • {"xvm":16000}

Additionally, using JSON all the settings for a motor or an axis can be done in one command. See JSON Operation

For details of the settings see the TinyG Configuration Page

The general settings for a 3 motor machine are listed below. For dual Y axis setups use the general settings, but also see Dual Y Motor settings

System Settings

setting value description notes
$ja 2000000 JUNCTION_ACCELERATION 2 million - centripetal acceleration around corners
$st 1 SWITCH_TYPE 0=normally open, 1=normally closed. Use NC for better noise immunity
$mt 10 MOTOR_TIMEOUT In build 412.01 and above this sets the number of seconds motors will stay energized after a machining cycle is complete. (this setting is not in 380.08)

Motor Settings

Use the following settings for a 3 motor system - and assumes:

  • X axis is wired to Motor 1
  • Y axis is wired to Motor 2
  • Z axis is wired to Motor 3

See Dual Y Settings for dual Y gantry setups.

A note on polarity: The motor polarity is the most likely setting to need adjustment, as it's dependent on how the motors are wired. Set polarity so that X moves to the right for positive moves. Y should move away from the front of the table for positive moves. Z should move up for positive moves. Reverse polarity of the axis if this is not true. Or you can swap the two leads of one of the coil pairs on your motor wiring to do this in hardware.

Motor 1

setting value description notes
$1ma 0 MOTOR_MAP map motor 1 to X axis (0=X, 1=Y, 2=Z, 3=A, 4=B, 5=C)
$1sa 1.8 STEP_ANGLE set 1.8 degrees for 200 step motors, 0.9 for 400 step motors
$1tr 36.54 (40.00) TRAVEL_PER_REV Amount X moves in 1 motor revolution. For Shapeoko 2 try 40. That's 20 teeth * 2 mm/tooth Your setup may be slightly different.
$1mi 8 MICROSTEPS Supported values are 1, 2, 4 and 8
$1po 0 POLARITY Depends on how you wired your motors
$1pm 0 POWER_MODE 0 leaves steppers on if anything moves

Motor 2

setting value description notes
$2ma 1 MOTOR_MAP map motor 2 to Y axis (0=X, 1=Y, 2=Z, 3=A, 4=B, 5=C)
$2sa 1.8 STEP_ANGLE set 1.8 degrees for 200 step motors, 0.9 for 400 step motors
$2tr 36.54 (40.00) TRAVEL_PER_REV Amount Y moves in 1 revolution
$2mi 8 MICROSTEPS Supported values are 1, 2, 4 and 8
$2po 0 POLARITY Depends on how you wired your motors
$2pm 0 POWER_MODE 0 leaves steppers on if anything moves

Motor 3

setting value description notes
$3ma 2 MOTOR_MAP map motor 3 to Z axis (0=X, 1=Y, 2=Z, 3=A, 4=B, 5=C)
$3sa 1.8 STEP_ANGLE set 1.8 degrees for 200 step motors, 0.9 for 400 step motors
$3tr 1.25 TRAVEL_PER_REV Amount Z moves in 1 revolution
$3mi 4 MICROSTEPS Supported values are 1, 2, 4 and 8
$3po 0 POLARITY Depends on how you wired your motors
$3pm 0 POWER_MODE 0 leaves steppers on if anything moves

Motor 4

In this config motor 4 does not need to be set up. The following settings are for an A axis, and are provided just as an example.

setting value description notes
$4ma 3 MOTOR_MAP map motor 4 to second A axis (0=X, 1=Y, 2=Z, 3=A, 4=B, 5=C)
$4sa 1.8 STEP_ANGLE set 1.8 degrees for 200 step motors, 0.9 for 400 step motors
$4tr 360 TRAVEL_PER_REV Amount A moves in degrees for 1 motor revolution. Reduce if A is geared.
$4mi 8 MICROSTEPS Supported values are 1, 2, 4 and 8
$4po 0 POLARITY Reverse from Motor 2 so it doesn't fight motor 2's Y.
$4pm 0 POWER_MODE 0 leaves steppers on if anything moves

Axis Settings

The axis settings below assume the following:

  • The Z axis can travel relatively fast because it is relatively friction-free. If there is too much friction lower the velocity and jerk values to avoid stalling.
  • The machine is set up for homing switches but not limits. Homing switches are on Xmin, Ymin, and Zmax. If there are not homing switches set the switch values to disabled.

Axis settings apply to both 3 motor and 4 motor configurations. Only the motor parameters and mappings need to change.

X Axis

setting value description notes
$xam 1 AXIS_MODE 1=standard mode
$xvm 16000 VELOCITY_MAX Your machine might go faster or slower than this. Test it and adjust current pots
$xfr 16000 FEEDRATE_MAX Typcially set the same as velocity. May be set slower but not faster.
$xtn 0 TRAVEL_MIN Minimum travel (almost aways zero) (not in 380.08)
$xtm 220 TRAVEL_MAX Max travel before crash
$xjm 5000 JERK_MAX Jerk X 1 million. (see note for 380.08 or earlier)
$xjh 10000 JERK_HOMING Jerk X 1 million to use for homing. Typically > JERK_MAX (see 380.08 note)
$xjd 0.01 JUNCTION_DEVIATION in mm - smaller is faster cornering
$xsn 1 SWITCH_MODE_MIN Switch mode for minimum travel switch. 1 is HOMING
$xsx 0 SWITCH_MODE_MAX Switch mode for maximum travel switch. 0 is DISABLED
$xsv 3000 SEARCH_VELOCITY Homing speed to drive onto switch
$xlv 100 LATCH_VELOCITY Speed to back off homing switch
$xlb 20 LATCH_BACKOFF Max distance to back off switch during latch phase
$xzb 3 ZERO_BACKOFF Distance to back off switch before setting axis zero position

Note: Build 380.08 requires the full number for 5 billion: 5000000000. No spaces or commas. Count the zeros

Y Axis

setting value description notes
$yam 1 AXIS_MODE 1=standard mode
$yvm 16000 VELOCITY_MAX Your machine might go faster or slower than this
$yfr 16000 FEEDRATE_MAX Typcially set the same as velocity. May be set slower but not faster.
$ytn 0 TRAVEL_MIN Minimum travel (almost aways zero) (not in 380.08)
$ytm 220 TRAVEL_MAX Max travel before crash
$yjm 5000 JERK_MAX Jerk X 1 million.
$yjh 10000 JERK_HOMING Jerk X 1 million to use for homing. Typically > JERK_MAX
$yjd 0.01 JUNCTION_DEVIATION in mm - smaller is faster cornering
$ysn 1 SWITCH_MODE_MIN Switch mode for minimum travel switch. 1 is HOMING
$ysx 0 SWITCH_MODE_MAX Switch mode for maximum travel switch. 0 is DISABLED
$ysv 3000 SEARCH_VELOCITY Homing speed to drive onto switch
$ylv 100 LATCH_VELOCITY Speed to back off homing switch
$ylb 20 LATCH_BACKOFF Max distance to back off switch during latch phase
$yzb 3 ZERO_BACKOFF Distance to back off switch before setting axis zero position

Z Axis

setting value description notes
$zam 1 AXIS_MODE 1=standard mode
$zvm 800 VELOCITY_MAX Heavily dependent on how clean you can get the Z axis setup. Might go faster.
$zfr 800 FEEDRATE_MAX Typically set the same as velocity. May be set slower but not faster.
$ztn 0 TRAVEL_MIN Typically zero but may be negative (e.g. set travel max to zero)
$ztm 100 TRAVEL_MAX Max travel before crash
$zjm 50 JERK_MAX 50 million
$zjh 1000 JERK_HOMING 1 billion. Jerk to use during homing operations
$zjd 0.01 JUNCTION_DEVIATION in mm - smaller is faster cornering
$zsn 0 SWITCH_MODE_MIN Switch mode for minimum travel switch. 0 is DISABLED
$zsx 1 SWITCH_MODE_MAX Switch mode for maximum travel switch. 1 is HOMING
$zsv 3000 SEARCH_VELOCITY Homing speed to drive onto switch
$zlv 100 LATCH_VELOCITY Speed to back off homing switch
$zlb 20 LATCH_BACKOFF Max distance to back off switch during latch phase
$zzb 3 ZERO_BACKOFF Distance to back off switch before setting axis zero position

A, B and C Axes

Usually you are not using these, so just set some reasonable values like below. All distances are in degrees.

setting value description notes
$aam 0 AXIS_MODE 1=standard mode
$avm 60000 VELOCITY_MAX
$afr 60000 FEEDRATE_MAX
$atn -1 TRAVEL_MIN -1
$atm -1 TRAVEL_MAX -1 ... if min and max are the same it's treated as an infinite axis
$ajm 24000 JERK_MAX 24 billion
$ajh 24000 JERK_HOMING Jerk to use during homing operations
$ajd 0.1 JUNCTION_DEVIATION
$ara 1 RADIUS
$asn 0 SWITCH_MODE_MIN Switch mode for minimum travel switch. 0 is disabled
$asx 0 SWITCH_MODE_MAX Switch mode for maximum travel switch. 0 is disabled
$asv 6000 SEARCH_VELOCITY Homing speed to drive onto switch
$alv 1000 LATCH_VELOCITY Speed to back off homing switch
$alb 5 LATCH_BACKOFF Max distance to back off switch during latch phase
$azb 2 ZERO_BACKOFF Distance to back off switch before setting axis zero position

Dual Y Motor Settings

For a dual Y setup only the motor settings need to change. Axis settings are the same.

Motor 1

setting value description notes
$1ma 0 MOTOR_MAP map motor 1 to X axis (0=X, 1=Y, 2=Z, 3=A, 4=B, 5=C)
$1sa 1.8 STEP_ANGLE set 1.8 degrees for 200 step motors, 0.9 for 400 step motors
$1tr 36.54 TRAVEL_PER_REV Amount X moves in 1 motor revolution. Your setup may be slightly different.
$1mi 8 MICROSTEPS Supported values are 1, 2, 4 and 8
$1po 0 POLARITY Depends on how you wired your motors
$1pm 0 POWER_MODE 0 leaves steppers on if anything moves

Motor 2

setting value description notes
$2ma 1 MOTOR_MAP map motor 2 to first Y axis (0=X, 1=Y, 2=Z, 3=A, 4=B, 5=C)
$2sa 1.8 STEP_ANGLE set 1.8 degrees for 200 step motors, 0.9 for 400 step motors
$2tr 36.54 TRAVEL_PER_REV Amount Y moves in 1 revolution
$2mi 8 MICROSTEPS Supported values are 1, 2, 4 and 8
$2po 0 POLARITY Depends on how you wired your motors
$2pm 0 POWER_MODE 0 leaves steppers on if anything moves

Motor 3

setting value description notes
$3ma 1 MOTOR_MAP map motor 3 to second Y axis (0=X, 1=Y, 2=Z, 3=A, 4=B, 5=C)
$3sa 1.8 STEP_ANGLE set 1.8 degrees for 200 step motors, 0.9 for 400 step motors
$3tr 36.54 TRAVEL_PER_REV Amount Y moves in 1 motor revolution
$3mi 8 MICROSTEPS Supported values are 1, 2, 4 and 8
$3po 1 POLARITY Reverse from Motor 2 so it doesn't fight motor 2's Y.
$3pm 0 POWER_MODE 0 leaves steppers on if anything moves

Motor 4

setting value description notes
$4ma 2 MOTOR_MAP map motor 4 to Z axis (0=X, 1=Y, 2=Z, 3=A, 4=B, 5=C)
$4sa 1.8 STEP_ANGLE set 1.8 degrees for 200 step motors, 0.9 for 400 step motors
$4tr 1.25 TRAVEL_PER_REV Amount Z moves in 1 revolution
$4mi 4 MICROSTEPS Supported values are 1, 2, 4 and 8
$4po 0 POLARITY Depends on how you wired your motors
$4pm 0 POWER_MODE 0 leaves steppers on if anything moves