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    Tevo Little Monster delta endstopless homing

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    Tuning and tweaking
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    • DomMilanundefined
      DomMilan
      last edited by

      Hi all.
      Putting a 2 wifi in my TLM. Cant seem to tune Stall Guard though. played with the motor current, sensitivity, and acceleration and the the axis slam up into the frame. Appreciate the help on this matter. Current homedelta.g is below.

      ; homedelta.g
      ; called to home all towers on a delta printer
      ;
      ; generated by RepRapFirmware Configuration Tool on Mon May 22 2017 22:56:20 GMT-0400 (Eastern Daylight Time)
      M400
      M574 X2 Y2 Z2 S3
      M913 X50 Y50 Z50
      M201 X1000 Y1000 Z1000
      M915 X S-50 Y S-50 Z S-50 F1 H400 R0
      ; Use relative positioning
      G91
      ; Move all towers to the high end stopping at the endstops (first pass)
      G1 X505 Y505 Z505 F1800 S1
      ; Go down a few mm
      G1 X-5 Y-5 Z-5 F1800 S2
      ; Move all towers up once more (second pass)
      G1 X10 Y10 Z10 F360 S1

      ; Move down a few mm so that the nozzle can be centred
      G1 Z-5 F6000

      ; Switch back to absolute positioning and go to the centre
      G90
      G1 X0 Y0 F6000
      M400 ; wait again
      M913 X100 Y100 ; motor currents back to 100%
      M201 X3000 Y3000 ; accel back to original
      M574 X1 Y1 Z0 S0 ; set endstops back

      ///////////////////////////////////////////////////////////////////////
      Config.g below
      ///////////////////////////////////////////////////////////////////////

      ; General preferences
      M111 S0 ; Debugging off
      G21 ; Work in millimetres
      G90 ; Send absolute coordinates...
      M83 ; ...but relative extruder moves
      M555 P1 ; Set firmware compatibility to look like RepRapFirmare
      M665 R157 L397.1073 B175 H525 ; Set delta radius, diagonal rod length, printable radius and homed height
      M666 X0 Y0 Z0 ; Put your endstop adjustments here, or let auto calibration find them
      M208 Z0 S1 ; Set minimum Z

      ; Endstops
      M574 X2 Y2 Z2 S3 ; Define active high microswitches
      M558 P1 X0 Y0 Z9 H5 F120 T6000 ; Set Z probe type to unmodulated, the axes for which it is used and the probe + travel speeds
      M557 R130 S20 ; Define mesh grid

      ; BL-Touch
      M307 H3 A-1 C-1 D-1 ; reserve pin 21 for M42 or servo use
      M558 P9 X0 Y0 Z1 H3 F200 T5000 A2
      G31 P25 X0 Y0 Z1.3 ; Set Z probe trigger value, offset and trigger height

      ; Drives
      M569 P0 S1 ; Drive 0 goes forwards
      M569 P1 S1 ; Drive 1 goes forwards
      M569 P2 S1 ; Drive 2 goes forwards
      M569 P3 S1 ; Drive 3 goes forwards
      M350 E32 I0 ; Configure microstepping without interpolation
      M350 X32 Y32 Z32 I1 ; Configure microstepping with interpolation
      M92 X160 Y160 Z160 E837 ; Set steps per mm
      M566 X1200 Y1200 Z1200 E3000 ; Set maximum instantaneous speed changes (mm/min)
      M203 X39960 Y39960 Z39960 E3000 ; Set maximum speeds (mm/min)
      M201 X1000 Y1000 Z1000 E1500 ; Set accelerations (mm/s^2)
      M906 X1800 Y1800 Z1800 E1500 I30 ; Set motor currents (mA) and motor idle factor in per cent
      M84 S30 ; Set idle timeout

      ; Heaters
      M143 S285 ; Set maximum heater temperature to 285C
      M301 H0 S1.00 P10 I0.1 D200 T0.4 W180 B30 ; Use PID on bed heater (may require further tuning)
      M305 P0 T100000 B4607 C8.950070e-8 R4700 ; Set thermistor + ADC parameters for heater 0
      M305 P1 T100000 B4138 C0 R4700 ; Set thermistor + ADC parameters for heater 1

      ; 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

      ; Network
      M550 PThe Fortune Teller ; Set machine name
      M540 PBE:EF:DE:AD:FE:ED ; Set MAC address
      M552 S1 ; Enable network and acquire dynamic address via DHCP
      M586 P0 S1 ; Enable HTTP
      M586 P1 S0 ; Disable FTP
      M586 P2 S0 ; Disable Telnet

      ; Fans
      M106 P0 S0 I0 F500 H-1 ; Set fan 0 value, PWM signal inversion and frequency. Thermostatic control is turned off
      M106 P1 S0 I0 F500 H-1 ; Set fan 1 value, PWM signal inversion and frequency. Thermostatic control is turned off

      ; Custom settings are not configured

      ; Miscellaneous
      M501 ; Load saved parameters from non-volatile memory

      Phaedruxundefined 1 Reply Last reply Reply Quote 0
      • Phaedruxundefined
        Phaedrux Moderator @DomMilan
        last edited by

        @DomMilan said in Tevo Little Monster delta endstopless homing:

        M915 X S-50 Y S-50 Z S-50 F1 H400 R0

        Values below -10 are not recommended.

        https://duet3d.dozuki.com/Wiki/Gcode#Section_M915_Configure_motor_stall_detection

        YOu'll need to tune the sensitivity, speed, and motor current.

        https://duet3d.dozuki.com/Wiki/Stall_detection_and_sensorless_homing

        Z-Bot CoreXY Build | Thingiverse Profile

        1 Reply Last reply Reply Quote 0
        • DomMilanundefined
          DomMilan
          last edited by

          Is there any other information you can tell me? Ive tried all types of sensitivities, currents and feed rates.

          ; homedelta.g
          ; called to home all towers on a delta printer
          ;
          ; generated by RepRapFirmware Configuration Tool on Mon May 22 2017 22:56:20 GMT-0400 (Eastern Daylight Time)
          M400
          M574 X2 Y2 Z2 S3
          M913 X30 Y30 Z30
          M201 X1000 Y1000 Z1000
          M915 X S2 Y S2 Z S2 F1 H400 R0
          ; Use relative positioning
          G91
          ; Move all towers to the high end stopping at the endstops (first pass)
          G1 X505 Y505 Z505 F1800 H1
          ; Go down a few mm
          G1 X-5 Y-5 Z-5 F1000 S2
          ; Move all towers up once more (second pass)
          G1 X10 Y10 Z10 F360 S1

          ; Move down a few mm so that the nozzle can be centred
          G1 Z-5 F6000

          ; Switch back to absolute positioning and go to the centre
          G90
          G1 X0 Y0 F6000
          M400 ; wait again
          M913 X100 Y100 ; motor currents back to 100%
          M201 X3000 Y3000 ; accel back to original
          M574 X1 Y1 Z0 S0 ; set endstops back

          1 Reply Last reply Reply Quote 0
          • dc42undefined
            dc42 administrators
            last edited by

            Looks like you are homing too slowly. Your M915 H parameter says that stall detection is enabled at/above 400 full steps/sec. Your steps/mm is 160 with x16 microstepping, so 10 full steps/mm. Therefore 400 full steps/sec is 40mm/sec, times 60 is 2400 mm/min.

            Duet WiFi hardware designer and firmware engineer
            Please do not ask me for Duet support via PM or email, use the forum
            http://www.escher3d.com, https://miscsolutions.wordpress.com

            1 Reply Last reply Reply Quote 0
            • DomMilanundefined
              DomMilan
              last edited by

              No good results. I noticed if I used a really small M915 H parameter the effector wouldn't jam as much into the frame but I would get this error anyway:

              Error: G0/G1: insufficient axes homed

              ; homedelta.g
              ; called to home all towers on a delta printer
              ;
              ; generated by RepRapFirmware Configuration Tool on Mon May 22 2017 22:56:20 GMT-0400 (Eastern Daylight Time)
              M400
              M574 X2 Y2 Z2 S3
              M913 X30 Y30 Z30
              M201 X50 Y50 Z50
              M915 X S2 Y S2 Z S2 F1 H400 R0
              ; Use relative positioning
              G91
              ; Move all towers to the high end stopping at the endstops (first pass)
              G1 X505 Y505 Z505 F2400 H1
              ; Go down a few mm
              G1 X-5 Y-5 Z-5 F500 S2
              ; Move all towers up once more (second pass)
              G1 X10 Y10 Z10 F360 S1

              ; Move down a few mm so that the nozzle can be centred
              G1 Z-5 F6000

              ; Switch back to absolute positioning and go to the centre
              G90
              G1 X0 Y0 F6000
              M400 ; wait again
              M913 X100 Y100 ; motor currents back to 100%
              M201 X3000 Y3000 ; accel back to original
              M574 X1 Y1 Z0 S0 ; set endstops back

              DomMilanundefined 1 Reply Last reply Reply Quote 0
              • DomMilanundefined
                DomMilan @DomMilan
                last edited by

                @DomMilan and this one
                Error: G0/G1: target position not reachable from current position

                1 Reply Last reply Reply Quote 0
                • DomMilanundefined
                  DomMilan
                  last edited by DomMilan

                  Okay so I spent all day working this out. Its very close but it still grinds at the top a little

                  ; homedelta.g
                  ; called to home all towers on a delta printer
                  ;
                  ; generated by RepRapFirmware Configuration Tool v2.1.8 on Sat Apr 25 2020 15:18:05 GMT-0400 (Eastern Daylight Time)
                  M915 X Y Z S2 F1 H50
                  M400 ; make sure everything has stopped before we make changes
                  M201 X300 Y300 Z300
                  M574 X2 Y2 Z2 S3 ; set endstops to use motor stall
                  M913 X50 Y50 Z50 ; reduce motor current to 50% to prevent belts slipping
                  G91 ; relative positioning
                  G1 S1 H1 X532 Y532 Z532 F20000 ; move all towers to the high end stopping at the endstops (first pass)
                  G1 H2 X-8 Y-8 Z-8 F3600 ; go down a few mm
                  G1 H1 X10 Y10 Z10 F360 ; move all towers up once more (second pass)
                  G1 Z-5 F2400 ; move down a few mm so that the nozzle can be centred
                  G90 ; absolute positioning
                  M400 ; make sure everything has stopped before we reset the motor currents
                  M913 X100 Y100 Z100 ; motor currents back to normal
                  G1 X0 Y0 F2400 ; move X+Y to the centre
                  M915 X Y Z S30 R2 F1 ; set X and Y sensitivity high, pause when stall, filtered

                  ////////////////////////////////////////////////////////////////////////////////////////////////////

                  Also updated the config to use 256 microstepping

                  dc42undefined Phaedruxundefined 2 Replies Last reply Reply Quote 0
                  • dc42undefined
                    dc42 administrators
                    last edited by dc42

                    Don't use such a small H parameter, use a faster homing speed. If you set the H parameter too low then stall detection will become temperature-sensitive. I included an example for a delta printer in https://duet3d.dozuki.com/Wiki/Stall_detection_and_sensorless_homing#Section_Procedure.

                    Duet WiFi hardware designer and firmware engineer
                    Please do not ask me for Duet support via PM or email, use the forum
                    http://www.escher3d.com, https://miscsolutions.wordpress.com

                    1 Reply Last reply Reply Quote 0
                    • dc42undefined
                      dc42 administrators @DomMilan
                      last edited by dc42

                      @DomMilan said in Tevo Little Monster delta endstopless homing:

                      Also updated the config to use 256 microstepping

                      NO NO NO!

                      (sorry, it's late here. time I turned in.)

                      Duet WiFi hardware designer and firmware engineer
                      Please do not ask me for Duet support via PM or email, use the forum
                      http://www.escher3d.com, https://miscsolutions.wordpress.com

                      1 Reply Last reply Reply Quote 0
                      • Phaedruxundefined
                        Phaedrux Moderator @DomMilan
                        last edited by

                        @DomMilan said in Tevo Little Monster delta endstopless homing:

                        Also updated the config to use 256 microstepping

                        What DC42 means is that this won't solve your issue at all, and will likely result in performance issues along the road. Use x16 microstepping with interpolation to x256 for best results.

                        Z-Bot CoreXY Build | Thingiverse Profile

                        1 Reply Last reply Reply Quote 0
                        • DomMilanundefined
                          DomMilan
                          last edited by

                          So after the changes and DC42s recommendation I am back where I started... I really don't know what to do. I am running the same setup and an Ender 3 and it works perfectly and I cant even get this this thing to home.

                          dc42undefined 1 Reply Last reply Reply Quote 0
                          • DomMilanundefined
                            DomMilan
                            last edited by

                            On top of that all my thermistors are now reading 2000 even though everything is all connected.

                            1 Reply Last reply Reply Quote 0
                            • Phaedruxundefined
                              Phaedrux Moderator
                              last edited by Phaedrux

                              What settings are you currently using and what exactly is happening?

                              Does the Little Monster not have endstops already? I'm not sure what the draw of stall detection homing is for a delta? I'd think you'd want the best reliability and accuracy possible for homing.

                              Z-Bot CoreXY Build | Thingiverse Profile

                              1 Reply Last reply Reply Quote 0
                              • DomMilanundefined
                                DomMilan
                                last edited by

                                @Phaedrux said in Tevo Little Monster delta endstopless homing:

                                I live near New York City and I have put my 14 3D printers to work printing 250 shields a day. I was running my SBase on the TLM until the board died. Turned out one of my endstops died too, which is why I am trying to run sensor less homing. My temp errors went away when I moved to Firmware 2.03-2.05 from 3, so that's taken care of. Guess ill buy the endstop and wait another week until I bring this thing back to life.

                                1 Reply Last reply Reply Quote 0
                                • Phaedruxundefined
                                  Phaedrux Moderator
                                  last edited by

                                  I see. Well there is the manual way. You could move the carriage into position and then set the position with g92.

                                  But as I said before what settings do you currently have and what happens?

                                  Z-Bot CoreXY Build | Thingiverse Profile

                                  DomMilanundefined 1 Reply Last reply Reply Quote 0
                                  • dc42undefined
                                    dc42 administrators @DomMilan
                                    last edited by dc42

                                    @DomMilan said in Tevo Little Monster delta endstopless homing:

                                    So after the changes and DC42s recommendation I am back where I started... I really don't know what to do. I am running the same setup and an Ender 3 and it works perfectly and I cant even get this this thing to home.

                                    What speed are you now using in the G1 homing move in your homedelta.g file? Previously, you had it set too low. Revert to using H400 in your M915 commands, and try a homing speed of 4000 mm/min as in my example file.

                                    Note, stall homing by itself isn't accurate enough to home a delta, but if you have a Z probe then one or two auto calibration cycles after homing will fix the accuracy.

                                    Duet WiFi hardware designer and firmware engineer
                                    Please do not ask me for Duet support via PM or email, use the forum
                                    http://www.escher3d.com, https://miscsolutions.wordpress.com

                                    1 Reply Last reply Reply Quote 0
                                    • DomMilanundefined
                                      DomMilan @Phaedrux
                                      last edited by DomMilan

                                      @Phaedrux

                                      My config

                                      ; 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 Sat Apr 25 2020 21:37:52 GMT-0400 (Eastern Daylight Time)

                                      ; General preferences
                                      G90 ; send absolute coordinates...
                                      M83 ; ...but relative extruder moves
                                      M550 P"The Fortune Teller" ; set printer name
                                      M665 R155 L397.19 B155 H520 ; Set delta radius, diagonal rod length, printable radius and homed height
                                      M666 X0 Y0 Z0 ; put your endstop adjustments here, or let auto calibration find them

                                      ; Network
                                      M551 P"Turnip123!" ; set password
                                      M552 S1 ; enable network
                                      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 S1 ; physical drive 3 goes forwards
                                      M584 X0 Y1 Z2 E3 ; set drive mapping
                                      M350 X16 Y16 Z16 E16 I1 ; configure microstepping with interpolation
                                      M92 X80.00 Y80.00 Z80.00 E403.00 ; set steps per mm
                                      M566 X1200.00 Y1200.00 Z1200.00 E1200.00 ; set maximum instantaneous speed changes (mm/min)
                                      M203 X18000.00 Y18000.00 Z18000.00 E9000.00 ; set maximum speeds (mm/min)
                                      M201 X5000.00 Y5000.00 Z5000.00 E1000.00 ; set accelerations (mm/s^2)
                                      M906 X1000 Y1000 Z1000 E800 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 S3 ; set endstops controlled by motor stall detection

                                      ; Z-Probe
                                      M307 H3 A-1 C-1 D-1 ; disable heater on PWM channel for BLTouch
                                      M558 P9 H5 F120 T7200 ; set Z probe type to bltouch and the dive height + speeds
                                      G31 P500 X0 Y20 Z1.3 ; set Z probe trigger value, offset and trigger height
                                      M557 R150 S45 ; define mesh grid

                                      ; Heaters
                                      M307 H0 B0 S1.00 ; disable bang-bang mode for the bed heater and set PWM limit
                                      M305 P0 T100000 B4138 R4700 ; set thermistor + ADC parameters for heater 0
                                      M143 H0 S120 ; set temperature limit for heater 0 to 120C
                                      M305 P1 T100000 B4138 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 H1 T45 ; set fan 0 value, PWM signal inversion and frequency. Thermostatic control is turned on
                                      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"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
                                      M591 D0 C3 P2 E6.0

                                      My homedelta

                                      ; homedelta.g
                                      ; called to home all towers on a delta printer
                                      ;
                                      ; generated by RepRapFirmware Configuration Tool v2.1.8 on Sat Apr 25 2020 21:37:52 GMT-0400 (Eastern Daylight Time)
                                      M400 ; make sure everything has stopped before we make changes
                                      M915 P0:1:2 S2 F1 H400 R0
                                      M574 X2 Y2 Z2 S3 ; set endstops to use motor stall
                                      M913 X55 Y55 Z55 ; reduce motor current to 50% to prevent belts slipping
                                      G91 ; relative positioning
                                      G1 H1 X705 Y705 Z705 F4000 ; move all towers to the high end stopping at the endstops (first pass)
                                      G1 H2 X-5 Y-5 Z-5 F7200 ; go down a few mm
                                      G1 H1 X10 Y10 Z10 F360 ; move all towers up once more (second pass)
                                      G1 Z-5 F7200 ; move down a few mm so that the nozzle can be centred
                                      G90 ; absolute positioning
                                      G1 X0 Y0 F7200 ; move X+Y to the centre
                                      M400 ; make sure everything has stopped before we reset the motor currents
                                      M913 X100 Y100 Z100 ; motor currents back to normal
                                      G1 X0 Y0 F2000 ; centre the head and set a reasonable feed rate

                                      What currently happens with this specific homedelta.g is the effector rams itself into the endstop position and returns two errors, target position not reachable from current position and insufficient axis homed.

                                      Phaedruxundefined 1 Reply Last reply Reply Quote 0
                                      • Phaedruxundefined
                                        Phaedrux Moderator @DomMilan
                                        last edited by

                                        @DomMilan said in Tevo Little Monster delta endstopless homing:

                                        M400 ; make sure everything has stopped before we make changes
                                        M915 P0:1:2 S2 F1 H400 R0
                                        M574 X2 Y2 Z2 S3 ; set endstops to use motor stall
                                        M913 X55 Y55 Z55 ; reduce motor current to 50% to prevent belts slipping
                                        G91 ; relative positioning
                                        G1 H1 X705 Y705 Z705 F4000 ; move all towers to the high end stopping at the endstops (first pass)
                                        G1 H2 X-5 Y-5 Z-5 F7200 ; go down a few mm
                                        G1 H1 X10 Y10 Z10 F360 ; move all towers up once more (second pass)
                                        G1 Z-5 F7200 ; move down a few mm so that the nozzle can be centred
                                        G90 ; absolute positioning
                                        G1 X0 Y0 F7200 ; move X+Y to the centre
                                        M400 ; make sure everything has stopped before we reset the motor currents
                                        M913 X100 Y100 Z100 ; motor currents back to normal
                                        G1 X0 Y0 F2000 ; centre the head and set a reasonable feed rate

                                        Try this instead

                                        M400 ; make sure everything has stopped before we make changes
                                        M915 P0:1:2 S2 F0 H200 R0
                                        M574 X2 Y2 Z2 S3 ; set endstops to use motor stall
                                        M913 X55 Y55 Z55 ; reduce motor current to 50% to prevent belts slipping
                                        G91 ; relative positioning
                                        G1 H1 X705 Y705 Z705 F4000 ; move all towers to the high end stopping at the endstops (first pass)
                                        G1 X-50 Y-50 Z-50 F7200 ; go down a few mm
                                        G90 ; absolute positioning
                                        G1 X0 Y0 F7200 ; move X+Y to the centre
                                        M400 ; make sure everything has stopped before we reset the motor currents
                                        M913 X100 Y100 Z100 ; motor currents back to normal
                                        
                                        

                                        Z-Bot CoreXY Build | Thingiverse Profile

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                                        • DomMilanundefined
                                          DomMilan
                                          last edited by

                                          Okay this one was odd.

                                          Y and Z jumped down a good 50mm but then raised up about half that distance but is now lowering every time I run G28.

                                          X just lowers to the same height that Y and Z end in one motion.

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                                          • Phaedruxundefined
                                            Phaedrux Moderator
                                            last edited by

                                            I may have removed too much from your original. I'm not very familiar with the delta homing.

                                            try removing G1 X0 Y0 F7200 ; move X+Y to the centre

                                            That should home all towers once and then move down 50mm and stop. What you do with it after that is up to you.

                                            The important thing is that it sounds like it homed correctly.

                                            Z-Bot CoreXY Build | Thingiverse Profile

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