Hypercube Fusion movement help

[Phaedrux]

Ok, so based on the results of your G91 G1 S2 X10 F3000 test you're moving in X+ and Y-, so...

If it moves towards +X and -Y, or towards -X and +Y, turn the power off and swap the X and Y motor connections.

Swap your motor connections and re-run the tests.

[RAM]

@Phaedrux now it is moving the opposite way to it was before with the motor cables swapped.

[Phaedrux]

G1 S2 X10 F3000

If the head moves diagonally in the +X and +Y directions, all is well.

Ok, so all good there.

G1 S2 Y10 F3000

If the head moves diagonally in the +X and -Y directions, all is well.

All good there too.

Looking at your endstop configuration...
You have M574 X1 Y1 S1 which puts both endstops at the low end of travel. But you actually have the Y endstop at the back, which is the high end of travel.

So you should have M574 X1 Y2 S1.

Now for your homeall you should have...

; homeall.g
; called to home all axes
;
; generated by RepRapFirmware Configuration Tool v2.1.8 on Sun Jan 26 2020 18:02:23 GMT+0000 (Greenwich Mean Time)
G91                     ; relative positioning
G1 H2 Z5 F6000          ; lift Z relative to current position
G1 H1 X-315 F1800   ; move quickly to X or Y endstop and stop there (first pass)
G1 X5 F6000          ; go back a few mm
G1 H1 X-315 F360        ; move slowly to X axis endstop once more (second pass)
G1 H1 Y325             ; home Y axis
G1 Y-15 F6000          ; go back a few mm
G1 H1 Y315 F360        ; move slowly to X axis endstop once more (second pass)
G90                     ; absolute positioning
G1 X150 Y150 F6000       ; go to first bed probe point and home Z
G30                     ; home Z by probing the bed
G1 X0 Y0 Z5 ; return to a parked position

With this you should be homing in the right direction and printed parts should no longer be mirrored.

[RAM]

@Phaedrux said in Hypercube Fusion movement help:

; homeall.g
; called to home all axes
;
; generated by RepRapFirmware Configuration Tool v2.1.8 on Sun Jan 26 2020 18:02:23 GMT+0000 (Greenwich Mean Time)
G91 ; relative positioning
G1 H2 Z5 F6000 ; lift Z relative to current position
G1 H1 X-315 F1800 ; move quickly to X or Y endstop and stop there (first pass)
G1 X5 F6000 ; go back a few mm
G1 H1 X-315 F360 ; move slowly to X axis endstop once more (second pass)
G1 H1 Y325 ; home Y axis
G1 Y-15 F6000 ; go back a few mm
G1 H1 Y315 F360 ; move slowly to X axis endstop once more (second pass)
G90 ; absolute positioning
G1 X150 Y150 F6000 ; go to first bed probe point and home Z
G30 ; home Z by probing the bed
G1 X0 Y0 Z5 ; return to a parked position

I changed the homeall.g file and now it is doing something strange when I press the homeall in DWC.

it homes the X fine but then goes back to the Y and seems to slip then starts to move to the right and keeps going.

homeall.g

;original values homing to front left corner after motor swap
; homeall.g
; called to home all axes homing x first then y then z and finally z to bed center before probing
;
; generated by RepRapFirmware Configuration Tool v2.1.8 on Sun Jan 26 2020 18:02:23 GMT+0000 (Greenwich Mean Time)
;G91                    ; relative positioning
;G1 H2 Z5 F6000         ; lift Z relative to current position
;G1 H1 X-315 F1800   	; move quickly to X or Y endstop and stop there (first pass)
;G1 X5 F6000          	; go back a few mm
;G1 H1 X-315 F360       ; move slowly to X axis endstop once more (second pass)
;G1 H1 Y-325 F1800      ; home Y axis
;G1 Y15 F6000          	; go back a few mm
;G1 H1 Y-315 F360       ; move slowly to X axis endstop once more (second pass)
;G90                    ; absolute positioning
;G1 Y15 F6000 		; move y 15mm away from home before homing z to stop collision with y sensor
;G1 X 146 Y 130 F6000   ; go to first bed probe point and home Z
;G30                    ; home Z by probing the bed

;new values homing to back left corner
; homeall.g
; called to home all axes
;
; generated by RepRapFirmware Configuration Tool v2.1.8 on Sun Jan 26 2020 18:02:23 GMT+0000 (Greenwich Mean Time)
G91                     ; relative positioning
G1 H2 Z5 F6000          ; lift Z relative to current position
G1 H1 X-315 F1800   	; move quickly to X or Y endstop and stop there (first pass)
G1 X5 F6000          	; go back a few mm
G1 H1 X-315 F360        ; move slowly to X axis endstop once more (second pass)
G1 H1 Y325 F1800            	; home Y axis
G1 Y-15 F6000          	; go back a few mm
G1 H1 Y315 F360        	; move slowly to X axis endstop once more (second pass)
G90                     ; absolute positioning
G1 X150 
G1 Y146 Y130 F6000      ; go to first bed probe point and home Z
G30                     ; home Z by probing the bed
;G1 X0 Y0 Z5 		; return to a parked position

homex.g

; homex.g
; called to home the X axis
;
; generated by RepRapFirmware Configuration Tool v2.1.8 on Sun Jan 26 2020 18:02:23 GMT+0000 (Greenwich Mean Time)
G91               ; relative positioning
G1 H2 Z5 F6000    ; lift Z relative to current position
G1 H1 X-315 F1800 ; move quickly to X axis endstop and stop there (first pass)
G1 X5 F6000       ; go back a few mm
G1 H1 X-315 F360  ; move slowly to X axis endstop once more (second pass)
G1 H2 Z-5 F6000   ; lower Z again
G90               ; absolute positioning

homey.g

; homey.g
; called to home the Y axis
;
; generated by RepRapFirmware Configuration Tool v2.1.8 on Sun Jan 26 2020 18:02:23 GMT+0000 (Greenwich Mean Time)
G91               ; relative positioning
G1 H2 Z5 F6000    ; lift Z relative to current position
G1 H1 Y-325 F1800 ; move quickly to Y axis endstop and stop there (first pass)
G1 Y5 F6000       ; go back a few mm
G1 H1 Y-325 F360  ; move slowly to Y axis endstop once more (second pass)
G1 H2 Z-5 F6000   ; lower Z again
G90               ; absolute positioning

just incase there is something messing around causing a conflict.

on a side thought if I leave my homeall.g as it was it homes as it would normally (front left corner) if I was to move the endstop there would it cause any issues and would the prints be not mirrored or any other strange things?

if it is easier to move the endstop for the Y I can do that easy.

[Phaedrux]

@RAM said in Hypercube Fusion movement help:

it homes the X fine but then goes back to the Y and seems to slip then starts to move to the right and keeps going.

maybe post a video?

@RAM said in Hypercube Fusion movement help:

G1 H2 Z5 F6000 ; lift Z relative to current position
G1 H1 Y-325 F1800 ; move quickly to Y axis endstop and stop there (first pass)
G1 Y5 F6000 ; go back a few mm
G1 H1 Y-325 F360 ; move slowly to Y axis endstop once more (second pass)
G1 H2 Z-5 F6000 ; lower Z again

I forgot to mention before when I changed the homeall to make the Y move to the + direction, that would also need to happen in the home Y.

@RAM said in Hypercube Fusion movement help:

on a side thought if I leave my homeall.g as it was it homes as it would normally (front left corner)

Front left? But your picture before shows the Y endstop at the back. Perhaps a photo/video of your actual printer?

[RAM]

@Phaedrux if I only change the 1st part

M574 X1 Y2 S1

But don't change the homeall.g file that is when it homes to the front left corner.

If I also change the homeall.g and do the M574 X1 Y2 S1 that is when it homes to the rear as it was before but then seems to go to the Y endstop slips and then travels to the right.

What I was trying to ask without confusing the issue was if I leave the homeall.g file unchanged and just change the config.g line to M574 X1 Y2 S1 as suggested and then move my optical Y endstop to the front of the machine so it is where it should have been in the 1st place would it be able to print things not mirrored / back to front etc or do I have to change the homeall.g file.

I was only asking to see if there was a easier solution to the problem when the homeall.g file got changed and it causing the issue where it seems to hit the Y endstop and then slips and travels right.

I will try and get a video of it doing the problem in a bit.

EDIT
couldn't upload the video here so here is the videos on youtube

This is with just the M574 X1 Y2 S1 done in the config.g and not changing the homeall.g file.
M574 X1 Y2 S1 Only

This is with both the config.g file edited with M574 X1 Y2 S1 and also the homeall.g file edited with the changes as suggested which causes it to bounce on the Y endstop and then move off to the right.
Config.g & homeall.g files edited

[Phaedrux]

I'm getting a headache, how bout you? We'll get there.

if I leave the homeall.g file unchanged and just change the config.g line to M574 X1 Y2 S1 as suggested and then move my optical Y endstop to the front of the machine so it is where it should have been in the 1st place would it be able to print things not mirrored / back to front etc or do I have to change the homeall.g file.

No. Because your original homeall has Y moving negative/low end, but M574 Y2 means the endstop is at the high end. So if you just moved the endstop you'd still end up with mirrored parts. The physical position of the endstop is irrelevance since we just have to tell the firmware where it is.

In your video where it hits the endstop and then continues to ride against the frame it looks like that's the point where it should be moving the center of the bed, but it thinks it's at the low end and that the bed is actually beyond the rail.

So let's take it from the top just to cross our Ts and dot our Is.

Please post your config.g, homing files as they are right now.

Then answer these tests.

With the power off, physically move the print head to the center of the bed. Power on and send G92 X150 Y150 Z5. This will tell the firmware to think that the Axis are homed and the position is close to the center of the bed.

Then use the jog buttons in the DWC.

Does X- move left and X+ move right?

Does Y- move to the front and Y+ to the back?

Also redo the G1 S2 X10 and G1 S2 Y10 tests as before.

Hopefully with all that information we can pin point what needs to be changed.

[RAM]

@Phaedrux yep I certainly am getting a headache and yet I have no clue what I am doing

Okay here is the config.g

; Configuration file for Duet WiFi (firmware version 2.03)
; executed by the firmware on start-up
;
; generated by RepRapFirmware Configuration Tool v2.1.8 on Sun Jan 26 2020 18:02:23 GMT+0000 (Greenwich Mean Time)

; General preferences
G21                                     ; Work in millimetres
G90                                     ; send absolute coordinates...
M83                                     ; ...but relative extruder moves
M550 P"HEVO"                            ; set printer name

M667 S1                                 ; select CoreXY mode

; Network
M552 S1 P"ASUS"                         ; Enable network
M587 S"ASUS" P"**hevors"        ; Configure access point. You can delete this line once connected
M586 P0 S1                              ; Enable HTTP
M586 P1 S0                              ; Disable FTP
M586 P2 S0                              ; Disable Telnet

; Drives
M569 P0 S1                               ; physical drive 0 goes forwards
M569 P1 S1                               ; physical drive 1 goes forwards
M569 P2 S1                               ; physical drive 2 goes forwards
M569 P3 S0                               ; physical drive 3 goes backwards
M584 X0 Y1 Z2 E3                         ; set drive mapping
M350 X16 Y16 Z16 E16 I1                  ; configure microstepping with interpolation
M92 X80.00 Y80.00 Z1066.67 E425.23       ; set steps per mm (original 420.00)
M566 X900.00 Y900.00 Z60.00 E900.00      ; set maximum instantaneous speed changes (mm/min)
M203 X10000.00 Y10000.00 Z600.00 E9000.00 ; set maximum speeds (mm/min)
M201 X800.00 Y800.00 Z250.00 E800.00     ; set accelerations (mm/s^2)
M906 X800 Y800 Z800 E800 I30             ; set motor currents (mA) and motor idle factor in per cent
M84 S30                                  ; Set idle timeout

; Axis Limits
M208 X0 Y0 Z0 S1                         ; set axis minima
M208 X310 Y320 Z500 S0                   ; set axis maxima


; Endstops
M574 X1 Y2 S1                            ; set active high endstops
M574 Z1 S2                               ; set endstops controlled by probe

; Z-Probe
M558 P1 H5 F120 T6000                    ; set Z probe type to unmodulated and the dive height + speeds
G31 P500 X33 Y0 Z2.300                   ; set Z probe trigger value, offset and trigger height
M557 X15:250 Y15:285 S20                 ; define mesh grid

; Heaters
M305 P0 T100000 B3950 R4700              ; set thermistor + ADC parameters for heater 0
M143 H0 S120                             ; set temperature limit for heater 0 to 120C
M305 P1 T100000 B4725 C7.060000e-8 R4700 ; set thermistor + ADC parameters 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 S"Main Extruder" D0 H1 F0        ; 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

; Custom settings are not defined

; Miscellaneous
M501                                               	; Load saved parameters from non-volatile memory
T0                                                 	; Select first tool

; Startup Tune
;
M400
G4 S2
M300 P200 S2000
G4 P201
M300 P200 S2250
G4 P201
M300 P200 S2000
G4 P201
M300 P200 S2855
G4 P201
M300 P200 S2500
G4 P201
M300 P200 S2200
G4 P201
M300 P200 S2500
G4 P201
M300 P200 S2900
G4 P201
M300 P300 S3500
G4 P300

homeall.g

;original values homing to front left corner after motor swap
; homeall.g
; called to home all axes homing x first then y then z and finally z to bed center before probing
;
; generated by RepRapFirmware Configuration Tool v2.1.8 on Sun Jan 26 2020 18:02:23 GMT+0000 (Greenwich Mean Time)
;G91                    ; relative positioning
;G1 H2 Z5 F6000         ; lift Z relative to current position
;G1 H1 X-315 F1800   	; move quickly to X or Y endstop and stop there (first pass)
;G1 X5 F6000          	; go back a few mm
;G1 H1 X-315 F360       ; move slowly to X axis endstop once more (second pass)
;G1 H1 Y-325 F1800      ; home Y axis
;G1 Y15 F6000          	; go back a few mm
;G1 H1 Y-315 F360       ; move slowly to X axis endstop once more (second pass)
;G90                    ; absolute positioning
;G1 Y15 F6000 		; move y 15mm away from home before homing z to stop collision with y sensor
;G1 X 146 Y 130 F6000   ; go to first bed probe point and home Z
;G30                    ; home Z by probing the bed

;new values homing to back left corner
; homeall.g
; called to home all axes
;
; generated by RepRapFirmware Configuration Tool v2.1.8 on Sun Jan 26 2020 18:02:23 GMT+0000 (Greenwich Mean Time)
G91                     ; relative positioning
G1 H2 Z5 F6000          ; lift Z relative to current position
G1 H1 X-315 F1800   	; move quickly to X or Y endstop and stop there (first pass)
G1 X5 F6000          	; go back a few mm
G1 H1 X-315 F360        ; move slowly to X axis endstop once more (second pass)
G1 H1 Y325 F1800            	; home Y axis
G1 Y-15 F6000          	; go back a few mm
G1 H1 Y315 F360        	; move slowly to X axis endstop once more (second pass)
G90                     ; absolute positioning
G1 X150 
G1 Y146 Y130 F6000      ; go to first bed probe point and home Z
G30                     ; home Z by probing the bed
;G1 X0 Y0 Z5 		; return to a parked position

homex.g

; homex.g
; called to home the X axis
;
; generated by RepRapFirmware Configuration Tool v2.1.8 on Sun Jan 26 2020 18:02:23 GMT+0000 (Greenwich Mean Time)
G91               ; relative positioning
G1 H2 Z5 F6000    ; lift Z relative to current position
G1 H1 X-315 F1800 ; move quickly to X axis endstop and stop there (first pass)
G1 X5 F6000       ; go back a few mm
G1 H1 X-315 F360  ; move slowly to X axis endstop once more (second pass)
G1 H2 Z-5 F6000   ; lower Z again
G90               ; absolute positioning

homey.g

; homey.g
; called to home the Y axis
;
; generated by RepRapFirmware Configuration Tool v2.1.8 on Sun Jan 26 2020 18:02:23 GMT+0000 (Greenwich Mean Time)
G91               ; relative positioning
G1 H2 Z5 F6000    ; lift Z relative to current position
G1 H1 Y-325 F1800 ; move quickly to Y axis endstop and stop there (first pass)
G1 Y5 F6000       ; go back a few mm
G1 H1 Y-325 F360  ; move slowly to Y axis endstop once more (second pass)
G1 H2 Z-5 F6000   ; lower Z again
G90               ; absolute positioning

homez.g

; homez.g
; called to home the Z axis
;
; generated by RepRapFirmware Configuration Tool v2.1.8 on Sun Jan 26 2020 18:02:23 GMT+0000 (Greenwich Mean Time)
G91               ; relative positioning
G1 H2 Z5 F6000    ; lift Z relative to current position
G90               ; absolute positioning
G1 X-18 Y15 F6000 ; go to first probe point
G30               ; home Z by probing the bed

; Uncomment the following lines to lift Z after probing
;G91              ; relative positioning
;G1 Z5 F100       ; lift Z relative to current position
;G90              ; absolute positioning

TESTS

X -10 moves left
X +10 moves right

Y -10 moves to the front
Y +10 moves to the rear

G1 S2 X10 moves forwards and to the left
G1 S2 Y10 moves forwards and to the right

If there is anything else that you need let me know and I will upload my firmware to dropbox, or if you need to talk through this to make it easier then I can do that too. Basically whatever you need just let me know and thanks again for all the help.

[Phaedrux]

I'll take a closer look later today.

[RAM]

@Phaedrux thank you very much

[Phaedrux]

Ok a couple more questions.

Which motor is plugged into which driver? I know we did some swapping, but how are they connected right now?

We're gonna try and make your configuration match my own, so here's what I have.

The left motor is connected to the X driver, the right motor is connected to the Y driver.

Then in the drives section for motor direction I have the opposite of you.

you have:

; Drives
M569 P0 S1
M569 P1 S1

I have:

; Drives
M569 P0 S0
M569 P1 S0

So make those changes to the motor wiring and the direction of rotation, and then do those motor tests again.

Also, when you say

G1 S2 X10 moves forwards and to the left
G1 S2 Y10 moves forwards and to the right

Does forwards mean towards the front of the printer or towards the back of the printer?

[Phaedrux]

@RAM said in Hypercube Fusion movement help:

; homey.g
; called to home the Y axis
;
; generated by RepRapFirmware Configuration Tool v2.1.8 on Sun Jan 26 2020 18:02:23 GMT+0000 (Greenwich Mean Time)
G91 ; relative positioning
G1 H2 Z5 F6000 ; lift Z relative to current position
G1 H1 Y-325 F1800 ; move quickly to Y axis endstop and stop there (first pass)
G1 Y5 F6000 ; go back a few mm
G1 H1 Y-325 F360 ; move slowly to Y axis endstop once more (second pass)
G1 H2 Z-5 F6000 ; lower Z again
G90 ; absolute positioning

Once we have the directions sorted out the homeY will also need to change from that to this:

; homey.g
; called to home the Y axis
;
; generated by RepRapFirmware Configuration Tool v2.1.8 on Sun Jan 26 2020 18:02:23 GMT+0000 (Greenwich Mean Time)
G91               ; relative positioning
G1 H2 Z5 F6000    ; lift Z relative to current position
G1 H1 Y325 F1800 ; move quickly to Y axis endstop and stop there (first pass)
G1 Y-5 F6000       ; go back a few mm
G1 H1 Y325 F360  ; move slowly to Y axis endstop once more (second pass)
G1 H2 Z-5 F6000   ; lower Z again
G90               ; absolute positioning

And your homez should use the same X Y position to probe the bed as used in home all. Right now you have

G90               ; absolute positioning
G1 X-18 Y15 F6000 ; go to first probe point
G30               ; home Z by probing the bed

Except in your homeall right now it doesn't make a lot of sense.

G90
G1 X150 
G1 Y146 Y130 F6000      ; go to first bed probe point and home Z
G30

The first one moves to just an X position, and the second line has two Y values. So I'm guessing it should be G1 X150 Y130 F6000 instead

[RAM]

@Phaedrux
Left motor is plugged into the X axis
Right motor is plugged into the Y axis

My motors are at the front of my machine

G1 S2 X10 moves to the rear right corner
G1 S2 Y10 moves to the front right corner (diagonally towards the front where the Y axis motor is)

X -10 moves right
X +10 moves left

Y -10 moves to the rear
Y +10 moves to the front
If I now try and home X & Y indiviually they move away from the endstops.
(If looking at the machine from the front the Y enstop is at the rear left and the X is on the left)

Also changed the home files as instructed to.

Homeall.g

; homeall.g
; called to home all axes
;
; generated by RepRapFirmware Configuration Tool v2.1.8 on Sun Jan 26 2020 18:02:23 GMT+0000 (Greenwich Mean Time)
G91                     ; relative positioning
G1 H2 Z5 F6000          ; lift Z relative to current position
G1 H1 X-315 F1800   	; move quickly to X or Y endstop and stop there (first pass)
G1 X5 F6000          	; go back a few mm
G1 H1 X-315 F360        ; move slowly to X axis endstop once more (second pass)
G1 H1 Y325 F1800            	; home Y axis
G1 Y-15 F6000          	; go back a few mm
G1 H1 Y315 F360        	; move slowly to X axis endstop once more (second pass)
G90                     ; absolute positioning
G1 X150 
G1 X150 Y130 F6000      ; go to first bed probe point and home Z
G30                     ; home Z by probing the bed
;G1 X0 Y0 Z5 		; return to a parked position

Homez.g

; homez.g
; called to home the Z axis
;
; generated by RepRapFirmware Configuration Tool v2.1.8 on Sun Jan 26 2020 18:02:23 GMT+0000 (Greenwich Mean Time)
G91 ; relative positioning
G1 H2 Z5 F6000 ; lift Z relative to current position
G90 ; absolute positioning
G1 X150 Y130 F6000 ; go to first probe point
G30 ; home Z by probing the bed

; Uncomment the following lines to lift Z after probing
;G91 ; relative positioning
;G1 Z5 F100 ; lift Z relative to current position
;G90 ; absolute positioning

[Phaedrux]

is that with the change to the drive direction?

; Drives
M569 P0 S0
M569 P1 S0

[RAM]

@Phaedrux yes I changed the config.g to
; Drives
M569 P0 S0
M569 P1 S0

[Phaedrux]

I'm at a bit of a loss currently.

With the config as it is, I can't explain why the Y axis is still flipped from what it should be, yet the individual motor tests produce the correct motion.

I'll need to sleep on it.

[RAM]

@Phaedrux no problem, would it help to know what motors I am using ?

[Phaedrux]

Maybe. It may help to know how the phases are wired at the plug.

[RAM]

@Phaedrux here you go hopefully this will help. 17HS15-1504S-X1.pdf
I never even gave this a thought when I was plugging in the motor connectors I think they could be wrong from looking at the pdf and the duet 2 wifi wiring diagram.
In true bonehead fashion I was looking where the black wire was to which way it needed to go on the duet and didn't give the others a thought. I really need to stop building things at 2am.

Looking at the pdf and the duet wiring diagram and my thinking is this. (Hope this makes sense)
2B 2A 1A 1B
Red Blue Green Black this is how it is on the Duet

My motors come wired up as

A A\ B B
Black Green Red Blue

Now I can only assume that e.g A would be 1A & A\ would be 2A. If I am thinking on the right path then do I need to move the pins around on the duet connection end of the motor leads so that they are in this order.

DUET BOARD
2B 2A 1A 1B
Red Blue Green Black

MOTOR PLUG

B\ A\ A B
Blue Green Black Red

If I am wrong then I have no clue which is probably more than likely.

[Phaedrux]

I think the way you have them wired is alright, just that the pairs are swapped such that the rotation direction is reversed from how it's expected. Which is fine because it can be altered in software anyway with the drive direction command.

If you had the motor pairs wired in an unmatched fashion it wouldn't spin and you'd get some warnings in the console. It can also potentially cause damage.

The whole 1A 1B 2A 2B A A/ B B/ thing is pretty confusing, I agree.

In your case though by the look of the motor spec PDF the colors of the wires look like they actually match the colors of the plugs on the duet wiring diagram, which isn't always the case.

So on the motor the pair is denoted by the letters (A's together and B's together). And on the duet the pairs are denoted by the numbers (1's together, and 2's together).

So in the PDF it says that black (A) and green (A/) are a coil pair, and red (B) and blue (B/) are a coil pair.

And on the duet black (1B) and green (1A) are a pair, and red (2B) and blue (2A) are a pair.

So
black (A) to black (1B),
green (A/) to green (1A),
red (B) to red (2B),
blue (B/) to blue (2A).

I hope that makes sense.

If you decide to swap them around to match the colors I think that would verify that the rotation direction changes.