Solved: Delta probing with smart effector, skipping probe points

[bartolomeus]

My config has some strange behaniour while performing delta calibration.
It probes the first point 8 times, then skips some probing points, and continues with the rest of the points. Of the ten outer points, it only probes 6 of them.

My config.g:

; Configuration file for Duet WiFi (firmware version 1.20 or newer)
; executed by the firmware on start-up
;
; generated by RepRapFirmware Configuration Tool on Thu Jun 07 2018 20:41:32 GMT+0200 (West-Europa (zomertijd))
 
; General preferences
G90                                       ; Send absolute coordinates...
M83                                       ; ...but relative extruder moves
 
M665 L288.130:288.130:288.130:210 R139.757 H339.583 B117.5 X-0.324 Y-0.215 Z0.000
M666 X-0.675 Y0.465 Z0.210 A-0.03 B0.18
M669 X-120 Y-20
 
; Network
M550 PKossel                              ; Set machine name
M552 S1                                   ; Enable network
;*** Access point is configured manually via M587
M586 P0 S1                                ; Enable HTTP
M586 P1 S0                                ; Disable FTP
M586 P2 S0                                ; Disable Telnet
 
; Drives
M584 X0 Y1 Z2 U4 E3
M569 P0 S0                                ; Drive 0 goes backwards
M569 P1 S0                                ; Drive 1 goes backwards
M569 P2 S0                                ; Drive 2 goes backwards
M569 P3 S1                                ; Drive 3 goes forwards
M569 P4 S0				  ; Drive 4 goes backwards (flying extruder)
M350 X16 Y16 Z16 U16 E16 I1               ; Configure microstepping with interpolation
M92 X200 Y200 Z200 U100 E405              ; Set steps per mm
M566 X600 Y600 Z600 U600 E600      	  ; Set maximum instantaneous speed changes (mm/min)
M203 X12000 Y12000 Z12000 U12000 E3600	  ; Set maximum speeds (mm/min)
M201 X1500 Y1500 Z1500 U1500 E2000        ; Set accelerations (mm/s^2)
M906 X1700 Y1700 Z1700 U1000 E1000 I30    ; Set motor currents (mA) and motor idle factor in per cent
M84 S30                                   ; Set idle timeout
 
; Axis Limits
M208 Z0 S1                                ; Set minimum Z
 
; Endstops
M574 X2 Y2 Z2 U2 S1                       ; Set active high endstops
 
; Z-Probe
M558 P8 R0.4 H10 B1 A4 F1200 T3000        ; Set Z probe type to effector and the dive height + speeds, heaters off during probing, multi probe max 10 times
G31 P100 X0 Y0 Z0                         ; Set Z probe trigger value, offset and trigger height
M557 R105 S35                             ; Define mesh grid
 
; Heaters
M301 H0 S1.00 P10 I0.1 D200 T0.4 W180 B30   ; Use PID on bed heater (may require further tuning)
M305 P0 T100000 B4725 C7.06e-8 R4700        ; Set thermistor + ADC parameters for heater 0
M143 H0 S120                                ; Set temperature limit for heater 0 to 120C
M305 P1 X201				    ; Set PT100 for heater 1
M143 H1 S280                                ; Set temperature limit for heater 1 to 280C
 
; Fans
M106 P0 S0 I0 F500 H-1                    ; Set fan 0 value, PWM signal inversion and frequency. Thermostatic control is turned off
M106 P1 S1 I0 F500 H1 T45                 ; Set fan 1 value, PWM signal inversion and frequency. Thermostatic control is turned on
 
; Tools
M563 P0 D0 H1                             ; Define tool 0
G10 P0 X0 Y0 Z0                           ; Set tool 0 axis offsets
G10 P0 R0 S0                              ; Set initial tool 0 active and standby temperatures to 0C
 
; Automatic saving after power loss is not enabled
 
; Custom settings are not configured
M912 P0 S-10 				; CPU temperature calibration
 
; Miscellaneous
T0                                      ; Select first tool
; G29 S1 				; Load heightmap
; M376 H5		        	; Set bed compensation taper
M207 S1.5 R0 F2400 T1500 Z0		; Firmware retraction for PLA
M572 D0 S0.15				; Pressure advance
M501 					; Run config-override.g

Bed.g:

0:/sys/bed.g
; bed.g file for RepRapFirmware, generated by Escher3D calculator
; 16 points, 6 factors, probing radius: 110, probe offset (0, 0)
G28
G30 P0 X0.00 Y110.00 Z-99999 H0
G30 P1 X70.71 Y84.26 Z-99999 H0
G30 P2 X108.33 Y19.10 Z-99999 H0
G30 P3 X95.26 Y-55.00 Z-99999 H0
G30 P4 X37.62 Y-103.37 Z-99999 H0
G30 P5 X-37.62 Y-103.37 Z-99999 H0
G30 P6 X-95.26 Y-55.00 Z-99999 H0
G30 P7 X-108.33 Y19.10 Z-99999 H0
G30 P8 X-70.71 Y84.26 Z-99999 H0
G30 P9 X0.00 Y55.00 Z-99999 H0
G30 P10 X47.63 Y27.50 Z-99999 H0
G30 P11 X47.63 Y-27.50 Z-99999 H0
G30 P12 X0.00 Y-55.00 Z-99999 H0
G30 P13 X-47.63 Y-27.50 Z-99999 H0
G30 P14 X-47.63 Y27.50 Z-99999 H0
G30 P15 X0 Y0 Z-99999 S6

[bartolomeus]

Ok, I noticed the problem after changing the extruder offset for the 4th axis, M669.

When I have: M669 X0 Y0, the probing is normal.
When I change it to: M669 X-120 Y-20, the probing is weird.

I have the M669 command in both config.g as in config-override.g

Is this a bug. or did I misconfigure something?

[Danal]

It skips probe points in unreachable areas.

[bartolomeus]

@Danal I inderstand that, but all points are reachable. How does extruder offset on the 4th axis influence this?

[Dougal1957]

@bartolomeus Why are you specifying M669 this changes the kinematics scheme to something other than a delta?

[Phaedrux]

https://duet3d.dozuki.com/Wiki/Gcode#Section_M669_Set_kinematics_type_and_kinematics_parameters

[bartolomeus]

@Dougal1957 Because I am using a 4th axis for the xtruder. From the wiki:

"You must specify the XY offsets of the extruder outputs on additional towers relative to machine centre in the M669 command, for example:

M669 X150 Y100"

Anyway, your answer did point me in the right direction. I think I've almost solved it.

[bartolomeus]

Ok, solved. My M669 was wrong, it is X-100 Y20. Apparantly with Y-20, in combination with the specified 4th axis 'rod length', the probe points were out of reach. Thanks @Danal

[Dougal1957]

@bartolomeus Glad you got it sorted it's not something I have tried so not looked to deeply into the M669 (I thought it was only for Cartesian Corey polar scare and any other custom Kinematic other than Delta)