H4 - Show limit values with "settings" button and set Z and X backlash with numpad

[ilmarietto123]

Hi,
I'm not a programmer, the code works on the bench but is definitively not so elegant.
So take that as a starting point.
If someone is interested and worth it, it could be nice to clean up and optimize this modifications or part of them (@kachurovskiy, @kotovasia5120).
There are 2 main modifications:

1. the setting button (the "nut" button), actually unused, will show the limits of Z, X and A1 axis and the backlash values of Z and X.
2. the backlash of X and Z is saved in memory instead of hardcoded, so it is possible to change them with numpad, instead of recompile the code.

ATTENTION!!! I tested this modification only with my setup:

• encoder on spindle
• motor on z axis
• motor on x axis
• motor on a1 axis (to use the spindle as divider head)
• no additional encoders
• connector A2 not used
• the backlash of A1 is assumed to be 0

Note: it is possible to do only the limit page modification, but if you want the backlash modification, better to have both in order to have the possibility to check what value of backlash is stored.

1 - Limit page description

I thought it could be nice to have a check what stops are set before starting a job.
So, as long as the setting button is pressed it shows what is visible in the following image.
When the button is released, the display comes back to the previous screen.

If the limit is set there is a number, if the limit is not set, it shows only a "-".
For example, in the image, Z stop right is set to 0, X upper stop is not set.
"C" is the name of my A1 axis.
"b" stands for backlash.

2 - Backlash modification description

To change the backlash, just type the value with numpad and hold the relative button ("A" for X or "B" for Z) for at least 3 seconds.
When the button is released, it beeps and saves the new value. The memorized value can be checked with the setting button.
The long press to store the backlash is used:

• to avoid error of distraction because backlashes are sensitive parameters and can mess all
• because A button and B button already have different functions for short press:
  • pressing A button from a numpad value, sets the X zero to the minus half of the input value.
  • pressing A button or B button when not in numpad, enable or disable the relative axis

1 - Limit page modifications

After line 2271 add this:

void buttonSettingPress() {
  lcd.clear();
  lcd.setCursor(0, 0);
  if (!z.disabled) {
    lcd.print(NAME_Z);
    lcd.write(customCharLimLeftCode);
    z.leftStop == LONG_MAX ? lcd.print("-") : printDeciMicrons(stepsToDu(&z, z.leftStop + z.originPos), 2);
    lcd.setCursor(10, 0);
    lcd.write(customCharLimRightCode);
    z.rightStop == LONG_MIN ? lcd.print("-") : printDeciMicrons(stepsToDu(&z, z.rightStop + z.originPos), 2);
  }
  lcd.setCursor(0, 1);

  if (!x.disabled) {
    lcd.print(NAME_X);
    lcd.write(customCharLimUpCode);
    x.leftStop == LONG_MAX ? lcd.print("-") : printDeciMicrons(stepsToDu(&x, x.leftStop + x.originPos), 2);
    lcd.setCursor(10, 1);
    lcd.write(customCharLimDownCode);
    x.rightStop == LONG_MIN ? lcd.print("-") : printDeciMicrons(stepsToDu(&x, x.rightStop + x.originPos), 2);
  }
  lcd.setCursor(0, 2);
  if (!a1.disabled) {
    lcd.print(NAME_A1);
    lcd.write(customCharLimUpCode);
    a1.rightStop == LONG_MIN ? lcd.print("-") : printDegrees(stepsToDu(&a1, a1.rightStop + a1.originPos));
    lcd.setCursor(10, 2);
    lcd.write(customCharLimDownCode);
    a1.leftStop == LONG_MAX ? lcd.print("-") : printDegrees(stepsToDu(&a1, a1.leftStop + a1.originPos));
  }
  lcd.setCursor(0, 3);
  lcd.print("b Z");
  printDeciMicrons(z.backlash, 3);
  lcd.setCursor(10, 3);
  lcd.print("X");
  printDeciMicrons(x.backlash, 3);
}

After line 2343 add this:

void processB_A_B_BPressRelease(bool fromNumpad, int keyCode, long x0FromDiam, long numpadResult) {  
  if (!fromNumpad) {
    if (keyCode == B_A) {
      x.disabled = !x.disabled;
      updateEnable(&x);
    } else if (keyCode == B_B) {
      z.disabled = !z.disabled;
      updateEnable(&z);
    }
  } else {
    if (millis() - resetMillis < 3000) {  // if long press
      if (keyCode == B_A) {
        x.originPos = x0FromDiam;
      }
    } else {
      if (keyCode == B_A) {
        x.backlash = numpadResult * 10;
        Serial.print("x.backlash = ");
        Serial.print(x.backlash);
        beep();
      } else if (keyCode == B_B) {
        z.backlash = numpadResult * 10;
        Serial.print("z.backlash = ");
        Serial.print(z.backlash);
        beep();
      }
    }
  }
}

Replace lines 2461 and 2462 with this:
EDITED: Replace lines 2467 and 2468 with this:

  if (keyCode == B_A || keyCode == B_B) {
    processB_A_B_BPressRelease(true, keyCode, -(a->pos + pos) / 2, numpadResult);

Replace line 2511 with this:

  bool numpadResult = ((isPress && (keyCode != B_A && keyCode != B_B)) || (!isPress && (keyCode == B_A || keyCode == B_B))) ? processNumpad(keyCode) : false;
  if (isPress && numpadResult) {

2 - Backlash modifications

Line 22 and line 34 can be removed or commented because no more used, but is not mandatory.

After line 194 add this code:

#define PREF_BACKLASH_Z "blz"  //  backlash name in pref
#define PREF_BACKLASH_X "blx"  //  backlash name in pref

After line 347 add this 2 lines:

  long backlash;              //  backlash (long decimicrons)
  long savedBacklash;     //  backlash saved in pref (long decimicrons)

After line 354 add this line:

long numpadBacklash;    //  backlash saved temporarly to wait for button release (long decimicrons)

After line 409 add this 2 lines:

  a->backlash = 0;           //  
  a->savedBacklash = 0;  //

After line add this function (EDITED: corrected as in this post )

void calculateBacklashSteps(Axis* a) {  //  calculate backlash in steps after reading pref or after modification
  a->backlashSteps = a->backlashSteps * a->motorSteps / a->screwPitch;
}

Modify lines 1662 and 1663 replacing BACKLASH_DU_Z and BACKLASH_DU_X with 0 like this (I commented both out and added 0 to both function:

  initAxis(&z, NAME_Z, true, false, MOTOR_STEPS_Z, SCREW_Z_DU, SPEED_START_Z, SPEED_MANUAL_MOVE_Z, ACCELERATION_Z, INVERT_Z, NEEDS_REST_Z, MAX_TRAVEL_MM_Z, /*BACKLASH_DU_Z*/ 0, Z_ENA, Z_DIR, Z_STEP);
  initAxis(&x, NAME_X, true, false, MOTOR_STEPS_X, SCREW_X_DU, SPEED_START_X, SPEED_MANUAL_MOVE_X, ACCELERATION_X, INVERT_X, NEEDS_REST_X, MAX_TRAVEL_MM_X, /*BACKLASH_DU_X*/ 0, X_ENA, X_DIR, X_STEP);

After line1676 add this:

  z.savedBacklash = z.backlash = pref.getLong(PREF_BACKLASH_Z);  //  get backlash from pref in decimicrons
  calculateBacklashSteps(&z);                                                            // calculate backlash in steps

After line1683 add this:

  x.savedBacklash = x.backlash = pref.getLong(PREF_BACKLASH_X);  //  get backlash from pref in decimicrons
  calculateBacklashSteps(&x);                                                            // calculate backlash in steps

After line 1782 add this:

  if (z.backlash != z.savedBacklash) {
    pref.putLong(PREF_BACKLASH_Z, z.savedBacklash = z.backlash);  //  save backlash in pref
    calculateBacklashSteps(&z);
  }

After line 1798 add this:

  if (x.backlash != x.savedBacklash) {
    pref.putLong(PREF_BACKLASH_X, x.savedBacklash = x.backlash);  //  save backlash in pref
    calculateBacklashSteps(&x);
  }

After line 2537 add this:

  } else if (keyCode == B_SETTINGS) {
                                       //  if (isOn) {  // uncomment if don't want settings menu while nanoELS is ON
                                       //    beep();
                                       //  } else {
    if (isPress) {
      buttonSettingPress();
      return;
    } else {
      lcdHashLine0 = LCD_HASH_INITIAL;
      return;
    }
  }

  if (keyCode == B_A || keyCode == B_B) {
    if (isPress) {
      resetMillis = millis();
    } else {
      if (!numpadResult) processB_A_B_BPressRelease(false, keyCode, 0, 0);
    }
    return;

Comment lines from 2568 to 2572
Comment lines from 2568 to 2573

Comment line 2576

EDITED (added) Replace lines 1766 to 1770 with this:

  if (dupr == savedDupr && starts == savedStarts && z.pos == z.savedPos && z.originPos == z.savedOriginPos && z.posGlobal == z.savedPosGlobal && z.motorPos == z.savedMotorPos && z.leftStop == z.savedLeftStop && z.rightStop == z.savedRightStop && z.disabled == z.savedDisabled && z.backlash == z.savedBacklash && spindlePos == savedSpindlePos && spindlePosAvg == savedSpindlePosAvg && spindlePosSync == savedSpindlePosSync && savedSpindlePosGlobal == spindlePosGlobal && showAngle == savedShowAngle && showTacho == savedShowTacho && moveStep == savedMoveStep && mode == savedMode && measure == savedMeasure && x.pos == x.savedPos && x.originPos == x.savedOriginPos && x.posGlobal == x.savedPosGlobal && x.motorPos == x.savedMotorPos && x.leftStop == x.savedLeftStop && x.rightStop == x.savedRightStop && x.disabled == x.savedDisabled && x.backlash == x.savedBacklash && a1.pos == a1.savedPos && a1.originPos == a1.savedOriginPos && a1.posGlobal == a1.savedPosGlobal && a1.motorPos == a1.savedMotorPos && a1.leftStop == a1.savedLeftStop && a1.rightStop == a1.savedRightStop && a1.disabled == a1.savedDisabled && coneRatio == savedConeRatio && turnPasses == savedTurnPasses && savedAuxForward == auxForward) return false;

That's all. Hope it can be usefull.
=)

[kachurovskiy]

Hi @ilmarietto123, super cool, thanks for sharing this! Can you please also attach your entire h4.ino file so that people wouldn't have to piece it together? Many thanks.

[ilmarietto123]

Ok, I started from H4V12.
Added some correction from latest Pull Requests.
Included new driver/pulse_cnt.h (not full quadrature but half quadrature as in PR).
Not included the I2C display mod in PR.
It compiles in Arduino IDE 2.3.4 with Board ESP32 version 3.1.0 with no warning.

NOTE: tested only on bench!

h4_limit_backlash.txt

[kotovasia5120]

You could paste a file. It takes up infinite space on the screen.

[ilmarietto123]

Actually you are right 🤣
I modified the post

[kotovasia5120]

what this?

[ilmarietto123]

When compiled with Bxxxxx instead of 0bxxxxx I get a warning for every byte of customCharXX, this is the first:
h4_limit_backlash.ino:500:3: warning: 'B11010' is deprecated: use 0b11010 instead [-Wdeprecated-declarations]
500 | B11010,
| ^~~~~~
Maybe you have File->Preferences->Compiler warnings set to "none" in Arduino IDE?

[kotovasia5120]

Yes it was disabled

[kotovasia5120]

The backlash does not change when the value changes.
I don't understand the reason yet.
I wrote 5 mm.

[andreev-]

После

lv_0_20250120163547.mp4

отключения питания и повторного включения значения не сохраняются

[ilmarietto123]

Hi @andreev,
you have to wait longer to give to the autosave function the time to save.
After setting the backlash with the relative axis long press, wait more than 5 seconds before turn off.

If you want to be sure to save the backlash immediatly after you long press the relative axis, you can modify the function "processB_A_B_BPressRelease()" like this:

void processB_A_B_BPressRelease(bool fromNumpad, int keyCode, long x0FromDiam, long numpadResult) {
  if (!fromNumpad) {
    if (keyCode == B_A) {
      x.disabled = !x.disabled;
      updateEnable(&x);
    } else if (keyCode == B_B) {
      z.disabled = !z.disabled;
      updateEnable(&z);
    }
  } else {
    if (millis() - resetMillis < 3000) {  // if long press
      if (keyCode == B_A) {
        x.originPos = x0FromDiam;
      }
    } else {
      if (keyCode == B_A) {
        x.backlash = numpadResult * 10;
        Serial.print("x.backlash = ");
        Serial.print(x.backlash);
        beep();
        saveIfChanged();                        // add this line to save immediatly after long press
        saveTime = micros();                    // add this line to save immediatly after long press
        //beep();                               // uncomment this if you want another beep after saving, just for confirmation
      } else if (keyCode == B_B) {
        z.backlash = numpadResult * 10;
        Serial.print("z.backlash = ");
        Serial.print(z.backlash);
        beep();
        saveIfChanged();                        // add this line to save immediatly after long press
        saveTime = micros();                    // add this line to save immediatly after long press
        //beep();                               // uncomment this if you want another beep after saving, just for confirmation
      }
    }
  }
}

[andreev-]

спасибо за дополнение, очень удобно теперь

[andreev-]

попробывал по разному ждать , не сохраняется ):

[ilmarietto123]

I applied all the modifications of this post in this file.

• Select the value of backlash on numpad
• press and hold B or A for more than 3 seconds
• release the button
• the board makes 2 beeps and save immediately.

If you don't hear the 2 beeps, it means that the long press was less than 3 seconds and you have to repeat.
Let me know.
h4_limit_backlash 20250120.ino

[tektonandroid]

Buenos días a todos. @ilmarietto123 , necesito preguntarte si has hecho cambios en la forma de trabajar conos. Antes hacía los conos tal y como indicaba @kachurovskiy en su video del manual. Avanzaba unas décimas e invertía el sentido. Ahora, al invertir el sentido, se separa hacia la derecha de la pieza, y, al volver a invertir, comienza comiendo más de la cuenta... no veo la lógica que utiliza, salvo que no esté usando el backlash definido....¿Alguién puede comprobarlo, por favor?

[ilmarietto123]

@andreev-, @tektonandroid, I tested the last code I posted and it didn't work.
Compared with the code on my board, I transcribed something wrong and something was missing.
The first message is edited with the corrections.
I attach a file with modifications from the last pull, if you want to test it.
This should save backlash right after the double beep. Let me know.
nanoels-H4V12-show_limit-set_backlash.txt

[kotovasia5120]

I do not recommend using this pull request. It was created by mistake.

[ilmarietto123]

I understand, @kotovasia5120.
I chose your pull because:

• both "driver/pulse_cnt.h" and timers are already written and compile correctly in expressif_3.1.0.
• the display part compiles as standard if "#define DISPLAY_I2C_EXPANDER" is commented out.
  Correct me if I'm wrong.
  Anyway, this is just a test.
  If people like this implementation, maybe it's better to completely rewrite the added parts with a style that integrates better with the rest of the code. For now it looks like a screwdriver stuck in a gearbox, but it somehow works to test if the change is worth it.

[Viktor1972-avi]

Добрый день. Я тоже совсем не программист, но вчера установил прошивку с коррекцией люфтов, экспериментально определил что сохранение значений происходит:

1. по оси Z после удержания кнопки B более 3 секунд и обязательно после нужно нажать стрелки влево - вправо;
2. по оси X после удержания кнопки A более 3 секунд и обязательно после нужно нажать стрелки вверх-вниз-влево - вправо.
   Как это связано не знаю.

[Viktor1972-avi]

небольшое уточнение при вводе значений лимита по осям Z и X, если перемещение влево вправо сделать с помощью внешнего джойстика с исправлениями от Геша555 то значения запоминаются стабильно. Вводимые значения люфт действительно компенсируют я проверил.

[ilmarietto123]

Maybe it needs to update the value of "motorPos" or better, reinitialize the axis, @kachurovskiy ?

[kachurovskiy]

I'm not up to date on what's happening in this thread but if there's a problem saving something to prefs, see saveIfChanged() and conditions on when this method is called. Either this method is not called or it's not saving what you're interested in. You can debug this by adding Serial.println("..."); statements.

[tektonandroid]

@ilmarietto123 , por favor...¿podria subir un archivo sin A1 habilitado? al intentar usar gearbox, aparece A1 en pantalla y no funciona el gearbox....

Muchas gracias y disculpa, pero todavia no se casi nada....
Saludos

[ilmarietto123]

Sorry @tektonandroid,
I did not really understand your problem.
If you used the last code I posted here, A1 is already disabled with the line 47:

const bool ACTIVE_A1 = false; // Whether the axis is connected

But maybe you have something wrong saved in flash memory from my previous totally messy code ( 😢 ).
You can try:

• go in ArduinoIDE
• select from top menu: "Tools-> Erase all flash before sketch upload" and select "Enable"
• upload the sketch again in nanoELS
• set the backlash again from nanoELS
• upload gcode again if you used it

P.s.: remember before upload to set the values of encoder and axis at the beginning of the code, depending on your lathe hardware, expecially keep attention to these parameters (if you had a previous working code version, copy them from there):

const int ENCODER_PPR = 600; // 600 step spindle optical rotary encoder. Fractional values not supported.

const long SCREW_Z_DU = 20000; // 2mm lead screw in deci-microns (10^-7 of a meter)
const long MOTOR_STEPS_Z = 800;
const long SPEED_START_Z = 2 * MOTOR_STEPS_Z; // Initial speed of a motor, steps / second.
const long ACCELERATION_Z = 30 * MOTOR_STEPS_Z; // Acceleration of a motor, steps / second ^ 2.
const long SPEED_MANUAL_MOVE_Z = 6 * MOTOR_STEPS_Z; // Maximum speed of a motor during manual move, steps / second.
const bool INVERT_Z = false; // change (true/false) if the carriage moves e.g. "left" when you press "right".
const bool NEEDS_REST_Z = false; // Set to false for closed-loop drivers, true for open-loop.
const long MAX_TRAVEL_MM_Z = 300; // Lathe bed doesn't allow to travel more than this in one go, 30cm / ~1 foot

const long SCREW_X_DU = 12500; // 1.25mm lead screw with 3x reduction in deci-microns (10^-7) of a meter
const long MOTOR_STEPS_X = 2400; // 200 steps at 3x reduction
const long SPEED_START_X = MOTOR_STEPS_X; // Initial speed of a motor, steps / second.
const long ACCELERATION_X = 10 * MOTOR_STEPS_X; // Acceleration of a motor, steps / second ^ 2.
const long SPEED_MANUAL_MOVE_X = 3 * MOTOR_STEPS_X; // Maximum speed of a motor during manual move, steps / second.
const bool INVERT_X = true; // change (true/false) if the carriage moves e.g. "left" when you press "right".
const bool NEEDS_REST_X = false; // Set to false for all kinds of drivers or X will be unlocked when not moving.
const long MAX_TRAVEL_MM_X = 100; // Cross slide doesn't allow to travel more than this in one go, 10cm

[tektonandroid]

Muchas gracias. Si. Ahora mismo lo tengo funcionando correctamente en este aspecto. Seguimos mejorándolo....

[andreev-]

please tell me which lines need to be removed so that the C axis (A1) is not involved

[tektonandroid]

Sobre la 47.....
const bool ACTIVE_A1 = false; // Whether the axis is connected

[andreev-]

I meant in the current changes about the limits function so that the third axis is not displayed on the screen

[ilmarietto123]

@andreev- I think you have to erase the flash memory if you still see this line with "ACTIVE_A1 = false", as described in this message.
This is the setting to enable in Arduino IDE, then upload, then set backlashes for Z and X.

Anyway, the function that shows the settings is "void buttonSettingPress()", starting at line 2360.
The third line of settings on the display starts at line 2381 and finishes at line 2389:

lcd.setCursor(0, 2);
  if (!a1.disabled) {
...
}

[andreev-]

ilmarietto123, and can you please send a video of how you determine the parameters of backlash after power is turned off

[andreev-]

один добрый человек сделал как сохранять параметры что бы они не сбрасывались после отключения питания

2025-03-07.21.25.41.mp4

[andreev-]

Выявилась проблема что фактически с этими изменениями прошивки на станке не работают люфты которые сохраняются☹️

[ilmarietto123]

Hi @andreev- ,
I see in the video at 0:02 he has Z and X backlash set to 0.06mm.
He modifies Z and X to 0.04mm and checks the values in the video at 0:17.
He turns off and on.
He checks again in the video at 0:25 and the values are saved correctly (both at 0.04mm as modified).
Can you better explain the problem? Sorry but I didn't understand.

[andreev-]

да все теперь сохраняется, но на экране нет задержки на люфт если его ставишь например 5 мм после нажатия направления и на станке люфт физически не проезжает

[andreev-]

Это стандартная прошивка с лифтом 5мм и видно как после нажатия происходит задержка на экране на люфт

lv_0_20250308221237.mp4

[andreev-]

А тут видео с Вашим дополнением и тоже люфт стоит 5 мм но нет задержки на экране на этот люфт

lv_0_20250308221434.mp4