Error 24, 33 and 34

[tobiaswuerth]

Hey, love the library, really useful for my case.

I tend to run into weird issues though, errors like these:

on_error                 error:33, G03X1032.00R18F10000, 13
on_error                 error:34, G03X1032.00R18F10000, 13
on_error                 error:33, G03X1032.00R18F10000, 13
on_error                 error:34, G03X1032.00R18F10000, 13
on_error                 error:33, G03X1032.00R18F10000, 12

on_read                  [echo: G03X1G03X1018.00R3F10000]
on_error                 error:24, G03X1006.00R6F10000, 21

on_read                  [echo: G01X1051.00Y500.00F150G02X1081.00R15F10000]
on_error                 error:24, G02X1051.00R15F10000, 13

on_read                  [echo: G01X1051.00Y500.00F150G02X1081.00R15F10000]
on_error                 error:24, G02X1051.00R15F10000, 13

on_read                  [echo: G01X1051.00Y500.00F150G02X1081.00R20F10000]
on_error                 error:24, G02X1051.00R20F10000, 13

My setup is like this:

grbl.job_new()
grbl.load_file(file)
grbl.job_run()
while not grbl.job_finished:
    timelapse.consider()
    time.sleep(0.1)

when I get an error in the log the machine stops but the while loop still continues. I then have to stop the cell and restart it.
Since this mostly happens at the start of a new script, I can restart it manually without much damange, nevertheless it's not ideal, I need something reliable.

grbl.abort()
grbl.job_new()
grbl.load_file(file)
grbl.job_run()
while not grbl.job_finished:
    timelapse.consider()
    time.sleep(0.1)

Most often this just works the 2nd time, since the actual start location of the machine is not at 0,0 but rather near where it last aborted.

It's obviously not an issue with the GCODE since it will work at some point and once it's running it runs..
It's still annoying because I cannot automate more of my workflow because I have to monitor and babysit everything.

From here I see that:

Error Code	Message	Description
24	Invalid gcode ID:24	More than one g-code command that requires axis words found in block.
33	Invalid gcode ID:33	Motion command target is invalid.
34	Invalid gcode ID:34	Arc radius value is invalid.

my solution of just restarting the script from a different starting position seems to help with 33/34.
the error 24 seems to appear when I try to expand my workflow like this:

for j, func in enumerate(gen.get_sequence_generator(idx)):
    print(f'Starting next iteration: {j}')
    grbl.killalarm()
    grbl.send_immediately("G21")
    grbl.send_immediately("G90")
    grbl.send_immediately("$H")
    grbl.send_immediately("G10 P0 L20 X0 Y0 Z0")

    state = take_photo()
    _, action_sequence = func(state)
    file = workspace.write_actions_to_file(idx, action_sequence, j) # generates gcode

    time.sleep(10) # wait for machine to finish homing
    grbl.job_new()
    grbl.load_file(file)
    grbl.job_run()

    while not grbl.job_finished:
        timelapse.consider()
        time.sleep(0.1)

    time.sleep(10) # wait for machine to finish returning to home position

I was wondering if the issue is related to time.sleep(..) or like the website mentions unstable connection. Weird is also that I do not have these issues when running the scripts with UGS (which is based on Java and maybe performs better?).

Any inputs is welcome :)
Thanks for the great work.

• T