Hello,
I recently had the error :
st_prep_line() move time is NAN
It was during manual motion (typing command using a custom made software).
Below is the only extract I got from the logs :
{"qr":28,"qi":1,"qo":1}
{"qr":27,"qi":1,"qo":0}
{"sr":{"posx":1.516,"feed":1000.00,"vel":1000.00,"momo":1}}
{"sr":{"posx":3.182}}
{"sr":{"posx":4.115,"vel":8.52}}
{"qr":27,"qi":1,"qo":0}
{"sr":{"posx":3.959,"feed":100.00,"vel":100.00}}
{"sr":{"posx":3.792}}
{"sr":{"posx":3.634}}
{"sr":{"posx":3.467}}
{"sr":{"posx":3.301}}
{"sr":{"posx":3.142}}
{"sr":{"posx":3.012,"vel":9.96}}
{"qr":27,"qi":1,"qo":0}
{"sr":{"posx":1.512,"feed":1000.00,"vel":1000.00}}
{"sr":{"posx":297.000,"vel":0.00}}
{"qr":28,"qi":0,"qo":1}
{"sr":{"posx":0.000,"feed":10000.00,"coor":1,"dist":0,"momo":4,"stat":3}}
{"qr":28,"qi":1,"qo":1}
{"xsv":1500}
{"r":{"xsv":1500},"f":[1,0,13,4562]}
G28.2X0
{"r":{"gc":"G28.2X0"},"f":[1,0,8,299]}
{"sr":{"coor":0,"dist":1,"stat":9}}
{"qr":28,"qi":1,"qo":1}
{"qr":27,"qi":1,"qo":0}
{"sr":{"posx":2.210,"feed":1500.00,"vel":1500.00,"momo":1}}
{"sr":{"posx":4.533,"vel":519.90}}
{"sr":{"posx":4.545,"vel":7.61}}
{"qr":27,"qi":1,"qo":0}
{"sr":{"posx":4.389,"feed":100.00,"vel":100.00}}
{"sr":{"posx":4.231}}
{"sr":{"posx":4.065}}
{"sr":{"posx":3.898}}
{"sr":{"posx":3.740}}
{"sr":{"posx":3.626,"vel":9.96}}
{"qr":27,"qi":1,"qo":0}
{"sr":{"posx":1.329,"feed":1500.00,"vel":1500.00}}
{"sr":{"posx":297.000,"vel":0.00}}
{"qr":28,"qi":0,"qo":1}
{"qr":28,"qi":1,"qo":1}
G28.2X0
{"r":{"gc":"G28.2X0"},"f":[1,0,8,299]}
{"sr":{"posx":0.000,"feed":10000.00,"momo":4}}
{"qr":28,"qi":1,"qo":1}
{"qr":27,"qi":1,"qo":0}
{"sr":{"posx":2.085,"feed":1500.00,"vel":1500.00,"momo":1}}
{"sr":{"posx":4.494,"vel":980.05}}
{"sr":{"posx":4.545,"vel":7.61}}
{"qr":27,"qi":1,"qo":0}
{"sr":{"posx":4.381,"feed":100.00,"vel":100.00}}
{"sr":{"posx":4.215}}
{"sr":{"posx":4.056}}
{"sr":{"posx":3.890}}
{"sr":{"posx":3.723}}
{"sr":{"posx":3.651,"vel":9.96}}
{"qr":27,"qi":1,"qo":0}
{"sr":{"posx":1.599,"feed":1500.00,"vel":1500.00}}
{"sr":{"posx":297.000,"vel":0.00}}
{"qr":28,"qi":0,"qo":1}
{"sr":{"posx":0.000,"feed":10000.00,"coor":1,"dist":0,"momo":4,"stat":3}}
{"qr":28,"qi":1,"qo":1}
{"xjh":100000}
{"r":{"xjh":100000},"f":[1,0,15,4029]}
G28.2X0
{"r":{"gc":"G28.2X0"},"f":[1,0,8,299]}
{"sr":{"coor":0,"dist":1,"stat":9}}
{"qr":28,"qi":1,"qo":1}
{"qr":27,"qi":1,"qo":0}
{"sr":{"posx":2.308,"feed":1500.00,"vel":1500.00,"momo":1}}
{"sr":{"posx":4.366,"vel":52.47}}
{"er":{"fb":435.10,"st":31,"msg":"st_prep_line() move time is NAN"}}
prep_null encounteredAnd another one while playing with the A Axis:
G0A360F3600
{"r":{"gc":"G0A360F3600"},"f":[1,0,12,1899]}
{"sr":{"posa":0.006,"feed":3600.00,"vel":71.25,"stat":5}}
{"qr":27,"qi":1,"qo":0}
{"sr":{"posa":36.420,"vel":10000.00}}
{"sr":{"posa":77.205}}
{"sr":{"posa":117.990}}
{"sr":{"posa":158.775}}
{"sr":{"posa":199.561}}
{"sr":{"posa":240.346}}
{"sr":{"posa":281.130}}
!
{"sr":{"posa":303.400,"vel":2.91,"stat":6}}
%
{"sr":{"vel":0.00,"stat":3}}
G1A360F30
{"er":{"fb":435.10,"st":31,"msg":"st_prep_line() move time is NAN"}}
prep_null encountered!Note that I've been able to run several long job (couple hours) since this error without reproducing it.
I just wanted to mention this.
My settings (I'm not sure they were exactly the same when running into the prep_null error...)
[fb] firmware build 435.10
[fv] firmware version 0.97
[hp] hardware platform 1.00
[hv] hardware version 8.00
[id] TinyG ID 9H3583-PXN
[ja] junction acceleration 2000000 mm
[ct] chordal tolerance 0.010 mm
[sl] soft limit enable 0
[st] switch type 1 [0=NO,1=NC]
[mt] motor idle timeout 180.00 Sec
[ej] enable json mode 0 [0=text,1=JSON]
[jv] json verbosity 5 [0=silent,1=footer,2=messages,3=configs,4=linenum,5=verbose]
[js] json serialize style 1 [0=relaxed,1=strict]
[tv] text verbosity 1 [0=silent,1=verbose]
[qv] queue report verbosity 2 [0=off,1=single,2=triple]
[sv] status report verbosity 1 [0=off,1=filtered,2=verbose]
[si] status interval 250 ms
[ec] expand LF to CRLF on TX 0 [0=off,1=on]
[ee] enable echo 0 [0=off,1=on]
[ex] enable flow control 1 [0=off,1=XON/XOFF, 2=RTS/CTS]
[baud] USB baud rate 5 [1=9600,2=19200,3=38400,4=57600,5=115200,6=230400]
[net] network mode 0 [0=master]
[gpl] default gcode plane 0 [0=G17,1=G18,2=G19]
[gun] default gcode units mode 1 [0=G20,1=G21]
[gco] default gcode coord system 1 [1-6 (G54-G59)]
[gpa] default gcode path control 0 [0=G61,1=G61.1,2=G64]
[gdi] default gcode distance mode 0 [0=G90,1=G91]
[1ma] m1 map to axis 0 [0=X,1=Y,2=Z...]
[1sa] m1 step angle 0.900 deg
[1tr] m1 travel per revolution 32.0000 mm
[1mi] m1 microsteps 8 [1,2,4,8]
[1po] m1 polarity 1 [0=normal,1=reverse]
[1pm] m1 power management 1 [0=disabled,1=always on,2=in cycle,3=when moving]
[2ma] m2 map to axis 1 [0=X,1=Y,2=Z...]
[2sa] m2 step angle 0.900 deg
[2tr] m2 travel per revolution 32.0000 mm
[2mi] m2 microsteps 8 [1,2,4,8]
[2po] m2 polarity 1 [0=normal,1=reverse]
[2pm] m2 power management 1 [0=disabled,1=always on,2=in cycle,3=when moving]
[3ma] m3 map to axis 2 [0=X,1=Y,2=Z...]
[3sa] m3 step angle 1.800 deg
[3tr] m3 travel per revolution 2.1170 mm
[3mi] m3 microsteps 8 [1,2,4,8]
[3po] m3 polarity 0 [0=normal,1=reverse]
[3pm] m3 power management 1 [0=disabled,1=always on,2=in cycle,3=when moving]
[4ma] m4 map to axis 3 [0=X,1=Y,2=Z...]
[4sa] m4 step angle 1.800 deg
[4tr] m4 travel per revolution 75.0000 mm
[4mi] m4 microsteps 8 [1,2,4,8]
[4po] m4 polarity 1 [0=normal,1=reverse]
[4pm] m4 power management 1 [0=disabled,1=always on,2=in cycle,3=when moving]
[xam] x axis mode 1 [standard]
[xvm] x velocity maximum 1500 mm/min
[xfr] x feedrate maximum 1500 mm/min
[xtn] x travel minimum 0.000 mm
[xtm] x travel maximum 300.000 mm
[xjm] x jerk maximum 5000 mm/min^3 * 1 million
[xjh] x jerk homing 30000 mm/min^3 * 1 million
[xjd] x junction deviation 0.0100 mm (larger is faster)
[xsn] x switch min 0 [0=off,1=homing,2=limit,3=limit+homing]
[xsx] x switch max 1 [0=off,1=homing,2=limit,3=limit+homing]
[xsv] x search velocity 1000 mm/min
[xlv] x latch velocity 100 mm/min
[xlb] x latch backoff 20.000 mm
[xzb] x zero backoff 3.000 mm
[yam] y axis mode 1 [standard]
[yvm] y velocity maximum 1500 mm/min
[yfr] y feedrate maximum 1500 mm/min
[ytn] y travel minimum 0.000 mm
[ytm] y travel maximum 220.000 mm
[yjm] y jerk maximum 5000 mm/min^3 * 1 million
[yjh] y jerk homing 30000 mm/min^3 * 1 million
[yjd] y junction deviation 0.0100 mm (larger is faster)
[ysn] y switch min 0 [0=off,1=homing,2=limit,3=limit+homing]
[ysx] y switch max 1 [0=off,1=homing,2=limit,3=limit+homing]
[ysv] y search velocity 1000 mm/min
[ylv] y latch velocity 100 mm/min
[ylb] y latch backoff 20.000 mm
[yzb] y zero backoff 3.000 mm
[zam] z axis mode 1 [standard]
[zvm] z velocity maximum 1000 mm/min
[zfr] z feedrate maximum 1000 mm/min
[ztn] z travel minimum 0.000 mm
[ztm] z travel maximum 100.000 mm
[zjm] z jerk maximum 50 mm/min^3 * 1 million
[zjh] z jerk homing 1000 mm/min^3 * 1 million
[zjd] z junction deviation 0.0100 mm (larger is faster)
[zsn] z switch min 0 [0=off,1=homing,2=limit,3=limit+homing]
[zsx] z switch max 0 [0=off,1=homing,2=limit,3=limit+homing]
[zsv] z search velocity 800 mm/min
[zlv] z latch velocity 100 mm/min
[zlb] z latch backoff 20.000 mm
[zzb] z zero backoff 10.000 mm
[aam] a axis mode 1 [standard]
[avm] a velocity maximum 48000 deg/min
[afr] a feedrate maximum 48000 deg/min
[atn] a travel minimum -1.000 deg
[atm] a travel maximum -1.000 deg
[ajm] a jerk maximum 24000 deg/min^3 * 1 million
[ajh] a jerk homing 24000 deg/min^3 * 1 million
[ajd] a junction deviation 0.1000 deg (larger is faster)
[ara] a radius value 0.0000 deg
[asn] a switch min 0 [0=off,1=homing,2=limit,3=limit+homing]
[asx] a switch max 0 [0=off,1=homing,2=limit,3=limit+homing]
[asv] a search velocity 6000 deg/min
[alv] a latch velocity 1000 deg/min
[alb] a latch backoff 5.000 deg
[azb] a zero backoff 2.000 deg
[bam] b axis mode 0 [disabled]
[bvm] b velocity maximum 3600 deg/min
[bfr] b feedrate maximum 3600 deg/min
[btn] b travel minimum -1.000 deg
[btm] b travel maximum -1.000 deg
[bjm] b jerk maximum 20 deg/min^3 * 1 million
[bjd] b junction deviation 0.0100 deg (larger is faster)
[bra] b radius value 1.0000 deg
[cam] c axis mode 0 [disabled]
[cvm] c velocity maximum 3600 deg/min
[cfr] c feedrate maximum 3600 deg/min
[ctn] c travel minimum -1.000 deg
[ctm] c travel maximum -1.000 deg
[cjm] c jerk maximum 20 deg/min^3 * 1 million
[cjd] c junction deviation 0.0100 deg (larger is faster)
[cra] c radius value 1.0000 deg
[p1frq] pwm frequency 100 Hz
[p1csl] pwm cw speed lo 1000 RPM
[p1csh] pwm cw speed hi 2000 RPM
[p1cpl] pwm cw phase lo 0.125 [0..1]
[p1cph] pwm cw phase hi 0.200 [0..1]
[p1wsl] pwm ccw speed lo 1000 RPM
[p1wsh] pwm ccw speed hi 2000 RPM
[p1wpl] pwm ccw phase lo 0.125 [0..1]
[p1wph] pwm ccw phase hi 0.200 [0..1]
[p1pof] pwm phase off 0.100 [0..1]
[g54x] g54 x offset 0.000 mm
[g54y] g54 y offset 0.000 mm
[g54z] g54 z offset 0.000 mm
[g54a] g54 a offset 0.000 deg
[g54b] g54 b offset 0.000 deg
[g54c] g54 c offset 0.000 deg
[g55x] g55 x offset 110.000 mm
[g55y] g55 y offset 110.000 mm
[g55z] g55 z offset 0.000 mm
[g55a] g55 a offset 0.000 deg
[g55b] g55 b offset 0.000 deg
[g55c] g55 c offset 0.000 deg
[g56x] g56 x offset 110.000 mm
[g56y] g56 y offset 20.000 mm
[g56z] g56 z offset -10.000 mm
[g56a] g56 a offset 0.000 deg
[g56b] g56 b offset 0.000 deg
[g56c] g56 c offset 0.000 deg
[g57x] g57 x offset 0.000 mm
[g57y] g57 y offset 0.000 mm
[g57z] g57 z offset 0.000 mm
[g57a] g57 a offset 0.000 deg
[g57b] g57 b offset 0.000 deg
[g57c] g57 c offset 0.000 deg
[g58x] g58 x offset 0.000 mm
[g58y] g58 y offset 0.000 mm
[g58z] g58 z offset 0.000 mm
[g58a] g58 a offset 0.000 deg
[g58b] g58 b offset 0.000 deg
[g58c] g58 c offset 0.000 deg
[g59x] g59 x offset 0.000 mm
[g59y] g59 y offset 0.000 mm
[g59z] g59 z offset 0.000 mm
[g59a] g59 a offset 0.000 deg
[g59b] g59 b offset 0.000 deg
[g59c] g59 c offset 0.000 deg
[g92x] g92 x offset 0.000 mm
[g92y] g92 y offset 0.000 mm
[g92z] g92 z offset 0.000 mm
[g92a] g92 a offset 0.000 deg
[g92b] g92 b offset 0.000 deg
[g92c] g92 c offset 0.000 deg
[g28x] g28 x position 0.000 mm
[g28y] g28 y position 0.000 mm
[g28z] g28 z position 0.000 mm
[g28a] g28 a position 0.000 deg
[g28b] g28 b position 0.000 deg
[g28c] g28 c position 0.000 deg
[g30x] g30 x position 0.000 mm
[g30y] g30 y position 0.000 mm
[g30z] g30 z position 0.000 mm
[g30a] g30 a position 0.000 deg
[g30b] g30 b position 0.000 deg
[g30c] g30 c position 0.000 deg