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Saftey Door Switches for BIG printers

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  • undefined
    CR3D
    last edited by 29 Jun 2020, 09:48

    @dc42 can you help me at this point?

    In any case, I have to make sure that the printer cannot be operated with the doors open.

    Do you have an idea how?

    Christian from CR-3D
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    • undefined
      jay_s_uk
      last edited by 29 Jun 2020, 09:50

      Why not use daemon.g and conditional gcode?
      You could then monitor for when the printer is printing and check the state of some door switches.
      Then, if they are open rather than closed, or vice versa, the print is paused.

      Owns various duet boards and is the main wiki maintainer for the Teamgloomy LPC/STM32 port of RRF. Assume I'm running whatever the latest beta/stable build is

      undefined 1 Reply Last reply 30 Jun 2020, 19:10 Reply Quote 1
      • undefined
        CR3D @jay_s_uk
        last edited by 30 Jun 2020, 19:10

        @jay_s_uk said in Saftey Door Switches for BIG printers:

        Why not use daemon.g and conditional gcode?
        You could then monitor for when the printer is printing and check the state of some door switches.
        Then, if they are open rather than closed, or vice versa, the print is paused.

        Yes, I would like to do that ... so far I have queried the doors with M581, but this only evaluated the rising flank.

        How could I solve that? do you have a concrete solution?

        Christian from CR-3D
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        • ?
          A Former User
          last edited by 30 Jun 2020, 19:16

          M582 would should run the trigger again if the state is still triggered.

          But I suspect the suggestion was to use the object model, don't have the specific node to use, but if noone comes up with it I'll have some time to poke it tomorrow

          1 Reply Last reply Reply Quote 0
          • ?
            A Former User
            last edited by 30 Jun 2020, 19:54

            or we could go down the "teach a man to fish" road?

            M409 F"v" K"sensors"
            and
            https://forum.duet3d.com/topic/14878/conditional-gcode-expressions?_=1593546611563

            where you find it under sensors will depend on how the sensor is defined, endstop or gpIn maybe?

            1 Reply Last reply Reply Quote 1
            • undefined
              dc42 administrators @CR3D
              last edited by 30 Jun 2020, 20:59

              @CR3D said in Saftey Door Switches for BIG printers:

              @dc42 But is there a Object Model for the inputs at itself?

              Yes, in RRF 3.1 they can be found in sensors.gpIn[x] where x is the GpIn number you assigned in M950 (the J parameter).

              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

              undefined 1 Reply Last reply 3 Jan 2024, 20:40 Reply Quote 0
              • undefined
                CR3D
                last edited by 3 Jul 2020, 12:22

                Solved!

                I created the switches like following in the config.g:

                ; Custom Safety Settings 
                
                ; Open Door Switch
                
                M950 J0 C"!1.io0.in" 
                M950 J1 C"!1.io1.in"
                M950 J2 C"!1.io2.in"
                
                ; Emergency Stop
                M950 J3 C"!1.io3.in"
                

                And at the homeall.g I used the conditional commands:

                ; homeall.g
                ; called to home all axes
                
                if sensors.gpIn[0].value==1 & sensors.gpIn[1].value==1 & sensors.gpIn[2].value==1 & sensors.gpIn[3].value==1  ;If the Doors are closed and the emergency stop is released -> Homing
                
                
                	M106 P0 S0		; Part cooling Fan off 
                	G91                    ; relative positioning
                
                	G1 H2 Z10 F6000         ; lift Z relative to current position
                	G1 H1 X-650 Y550 U650 F5000 ; first pass XYU
                	G1 H2 X5 Y-5 U-5 F6000     ; go back a few mm
                	G1 H1 X-20 Y20 U20 F360  ; second pass XY
                
                
                	G90                   ; absolute positioning
                	G1 X270 Y170 U460 F20000    ; first bed probe point -> move X to the middle of the Bed, U outside and home Z
                
                	G30
                

                Now if the doors are open or the emergency stop is active the printer will not move πŸ˜‰

                Thank you for your help!

                Regards Christian (CR-3D)

                Christian from CR-3D
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                • ?
                  A Former User
                  last edited by 3 Jul 2020, 17:27

                  are you still having a trigger to react to the doors being opend mid-print, or is that wired together with the e-stop?

                  undefined 1 Reply Last reply 3 Jul 2020, 17:47 Reply Quote 0
                  • undefined
                    CR3D @A Former User
                    last edited by 3 Jul 2020, 17:47

                    @bearer

                    In RRF2.05 I made this with M581 to call Trigger 0:

                    I planned like this:

                    ; Open Door Switch
                    
                    M950 J0 C"!1.io0.in" 
                    M950 J1 C"!1.io1.in"
                    M950 J2 C"!1.io2.in"
                    
                    M581 P"!1.io0.in" T0 C0
                    M581 P"!1.io1.in" T0 C0
                    M581 P"!1.io2.in" T0 C0
                    
                    
                    ; Emergency Stop
                    
                    M950 J3 C"!1.io3.in"
                    M581 P"!1.io3.in" T0 C0
                    

                    Christian from CR-3D
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                    • ?
                      A Former User
                      last edited by 3 Jul 2020, 17:49

                      gotcha, was wondering if you went with the slow down option and if so how you approached it - and if the time delay between the trigger and the speed reduction was acceptable with feed rate override f.ex.

                      undefined 1 Reply Last reply 4 Jul 2020, 09:57 Reply Quote 0
                      • undefined
                        CR3D @A Former User
                        last edited by 4 Jul 2020, 09:57

                        @bearer

                        before I have not found a way to listen to the protected ...

                        how do I then implement it?

                        Right now I'm opposing to stop everything. The reduction of the protected would be the best solution!

                        Christian from CR-3D
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                        • ?
                          A Former User
                          last edited by A Former User 7 Apr 2020, 10:11 4 Jul 2020, 10:02

                          I'm not sure how you'd go about it but I supect you'd set a M581 trigger for one flank to say trigger1.g that include

                          ;trigger1.g - called when doors open
                          M220 S20 
                          ;cancel T1 
                          M581 P"nil" T1 C0
                          ;and arm T2
                          M581 P"1.io0.in" T2 C0
                          M581 P"1.io1.in" T2 C0
                          M581 P"1.io2.in" T2 C0
                          

                          and in trigger2.g you set it back to 100 and change the trigger back to the original

                          ;trigger2.g - called when doors close
                          M220 S100 
                          ;cancel T2 
                          M581 P"nil" T2 C0
                          ;and arm T1
                          M581 P"!1.io0.in" T1 C0
                          M581 P"!1.io1.in" T1 C0
                          M581 P"!1.io2.in" T1 C0
                          

                          or something to that effect that causes the trigger to change function so it can respond differently to opening and closing.

                          https://duet3d.dozuki.com/Wiki/Gcode#Section_M220_Set_speed_factor_override_percentage

                          I suppose you could refactor it to use only trigger1.g and use conditional logic to check if the sensors.GpIn[n] is high or low as well.

                          CR3Dundefined 1 Reply Last reply 4 Jul 2020, 11:20 Reply Quote 0
                          • CR3Dundefined
                            CR3D @A Former User
                            last edited by 4 Jul 2020, 11:20

                            @bearer

                            Ok this sounds good! πŸ™‚ Thank you

                            But this will work for a running Print or always?
                            For example if the printer is homed, someone opens the door and moves the axes manually. Will this also be slowed down?

                            Christian from CR-3D
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                            • A Former User?
                              A Former User
                              last edited by 4 Jul 2020, 11:24

                              hmm, docs doesn't specify so I'd presume its valid for all moves, but it'll probably be some amount of time between the switch triggering and command getting applied to the moves in the queue.

                              if you test it and find M220 to not do the trick, you could also look into changing the actual speed limit with M203.

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                              • CR3Dundefined
                                CR3D
                                last edited by CR3D 23 Jul 2020, 06:04

                                Hi all...

                                I tested the example from @bearer and it works for the first step...

                                There are still a few small things:

                                1). I get an error message when I call trigger2.g and trigger3.g! Shown here in the picture

                                90b109fe-a588-4bc5-a54e-86937eb6c277-image.png

                                Here the code:

                                ; trigger2.g
                                ;called wenn door was closed and gets opend
                                
                                M220 S20 
                                ;cancel T2 
                                M581 P"nil" T2 
                                ;and arm T3
                                M581 P1 S0 T3 R0
                                M581 P2 S0 T3 R0
                                M581 P3 S0 T3 R0
                                
                                ;trigger3.g - called when doors close
                                
                                M220 S100 
                                ;cancel T3 
                                M581 P"nil" T3 
                                ;and arm T1
                                M581 P1 S1 T2 R0
                                M581 P2 S1 T2 R0
                                M581 P3 S1 T2 R0
                                

                                it seems to have something to do with the "nile". Why does this error appear?

                                as I said but it currently works when I open the door the speed decreases and when I close the door it increases again

                                2). can you improve the response time? That he does this immediately and not only when the buffer is empty? similar to the emergency stop?

                                Thank you! πŸ™‚

                                Christian from CR-3D
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                                A Former User? 1 Reply Last reply 23 Jul 2020, 07:06 Reply Quote 0
                                • A Former User?
                                  A Former User @CR3D
                                  last edited by 23 Jul 2020, 07:06

                                  @CR3D said in Saftey Door Switches for BIG printers:

                                  can you improve the response time? That he does this immediately and not only when the buffer is empty?

                                  not sure if M25 (pause) is faster with respect to response time? i.e. pause, change speed and resume, but it might be subject to the same latency and/or not affect the moves already planned.

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                                  • CR3Dundefined
                                    CR3D
                                    last edited by 23 Jul 2020, 11:45

                                    @bearer

                                    No I meant if you can speed up the response time of command M581 a little?

                                    Otherwise I am very happy with the function now!

                                    Any ideas about the error message with the ""?

                                    Christian from CR-3D
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                                    • dc42undefined
                                      dc42 administrators
                                      last edited by dc42 23 Jul 2020, 20:07

                                      The error message is misleading; however if you read https://duet3d.dozuki.com/Wiki/Gcode#Section_M581_RepRapFirmware_3_01RC2_and_later you will see that the line

                                      M581 P"nil" T3

                                      is not valid in RRF 3.01RC2 and later. If you want to delete trigger 3, use:

                                      M581 T3 P-1

                                      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

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                                      • A Former User?
                                        A Former User
                                        last edited by 23 Jul 2020, 21:09

                                        whops, i'm clearly outdated.

                                        anyways i don't think the delay is in the trigger and M581, its likely M220 waiting for moves already planned to finish before the new speed is applied?

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                                        • CR3Dundefined
                                          CR3D
                                          last edited by 24 Jul 2020, 04:40

                                          @dc42 Thank you!

                                          @bearer Yes I think this too! πŸ™‚

                                          Christian from CR-3D
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                                          www.cr-3d.de

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