Rotary delta calibration not implemented?

Phaedrux

From your video is seems like it's triggering the probe, but then skipping steps on one arm when it tries to return to the dive height causing it to lurch.

Are you sure there's no slipping grub screw or something like that?

Orang_

@Orang_

	M122
=== Diagnostics ===
RepRapFirmware for LPC176x based Boards (biquskr_1.3) version 3.2-beta4.1_1 running on LPC176x at 100Mhz
Used output buffers: 3 of 16 (11 max)
=== RTOS ===
Static ram: 5044
Dynamic Memory (RTOS Heap 5): 2056 free, 1992 never used
Never used RAM 80, free system stack 6 words
Tasks: NETWORK(blocked,196) HEAT(blocked,242) MAIN(running,353) IDLE(ready,20)
Owned mutexes: WiFi(NETWORK)
=== Platform ===
Last reset 00:55:21 ago, cause: [software]
Last software reset at 2021-01-11 22:25, reason: User, GCodes spinning, available RAM 256, slot 1
Software reset code 0x0003 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x00428000 BFAR 0xe000ed38 SP 0xffffffff Task MAIN
Error status: 0x00
Supply voltage: under voltage events: 0
Driver 0: position 43414, no-driver-detected
Driver 1: position 43808, no-driver-detected
Driver 2: position 41828, no-driver-detected
Driver 3: position 0, no-driver-detected
Driver 4: position 0
Driver 5: position 0
Driver 6: position 0
Date/time: 2021-01-11 23:20:45
Slowest loop: 95.26ms; fastest: 0.12ms
Step timer: target 2615712365 count 3321023289 delta -705310924 late 0
USBSerial connected 0
ADC not ready 2 ADC error threshold 10 ADC Init 1
Ints: 0; Calls 0; fast: 4294967295uS; slow 0uS adj 0 bad 0 big delta 0
PWM Channels
Delta -1446546330 Start -1 End -1
=== Storage ===
Free file entries: 4
SD card 0 detected
SD card longest read time 5.7ms, write time 5.3ms, max retries 0
=== Move ===
FreeDm 100 (min 97), maxWait 1181857ms, bed compensation in use: none, comp offset 0.000
=== DDARing ===
Scheduled moves 91, completed moves 91, hiccups 39525, stepErrors 0, LaErrors 0, Underruns [0, 0, 2], CDDA state -1
=== Heat ===
Bed heaters = 0, chamberHeaters = -1
Heater 1 is on, I-accum = 0.0
=== GCodes ===
Segments left: 0
Movement lock held by null
HTTP is idle in state(s) 0
File is idle in state(s) 0
USB is idle in state(s) 0
Aux is idle in state(s) 0
Trigger is idle in state(s) 0
Queue is idle in state(s) 0
Daemon is idle in state(s) 0
Autopause is idle in state(s) 0
Code queue is empty.
=== Network ===
Slowest loop: 322.64ms; fastest: 0.00ms
Responder states: HTTP(2) HTTP(0)
HTTP sessions: 1 of 2
- WiFi -
Network state is active
WiFi module is connected to access point 
Failed messages: pending 0, notready 0, noresp 0
WiFi firmware version 1.25B0-01L-D
WiFi MAC address e0:3f:49:23:39:c4
WiFi Vcc 2.93, reset reason Turned on by main processor
WiFi flash size 4194304, free heap 35560
WiFi IP address 192.168.1.97
WiFi signal strength -55dBm, mode 802.11n, reconnections 0, sleep mode modem
Clock register 00181001
Socket states: 0 0

jay_s_uk

There should be no differences between the LPC port and the normal version in terms of kinematics etc that I'm aware of. There are some other restrictions but that's mainly due to memory.

jay_s_uk

You can upgrade to 3.2 final from here https://github.com/gloomyandy/RepRapFirmware/releases/tag/v3.2_1

Orang_

@Phaedrux said in Rotary delta calibration not implemented?:

From your video is seems like it's triggering the probe, but then skipping steps on one arm when it tries to return to the dive height causing it to lurch.

Are you sure there's no slipping grub screw or something like that?

it happens only with delta calibration and mesh compensation, with normal use it is not observed

Orang_

RepRapFirmware 3.2 does not solve the problem(((

Phaedrux

@Orang_ said in Rotary delta calibration not implemented?:

M350 X64 Y64 Z64 E64 ; configure microstepping with interpolation M92 X1761.5 Y1761.5 Z1761.5 E1488.59 ; set steps per mm

Pardon my ignorance on the LPC port, but perhaps you can try using x16 microstepping to get a baseline?

I notice in your M122 there are a lot of hiccups which can mean skipped steps, so reducing the microstepping could help

hiccups 39525

Orang_

@Phaedrux said in Rotary delta calibration not implemented?:

@Orang_ said in Rotary delta calibration not implemented?:

M350 X64 Y64 Z64 E64 ; configure microstepping with interpolation M92 X1761.5 Y1761.5 Z1761.5 E1488.59 ; set steps per mm

Pardon my ignorance on the LPC port, but perhaps you can try using x16 microstepping to get a baseline?

I notice in your M122 there are a lot of hiccups which can mean skipped steps, so reducing the microstepping could help

hiccups 39525

The printer behaves the same way only with delta calibration and mesh compensation, no problems with printing and moving, I do not think the problem is microstepping but I can try

jay_s_uk

@Orang_ yea, I really wouldn't run anything higher than x16 on an LPC

Phaedrux

@Orang_ said in Rotary delta calibration not implemented?:

only with delta calibration and mesh compensation

Yes, and it's the quick movements to raise Z after probing that it's skipping, and those moves would be generating the most step pulses. The hiccups are indicating an issue caused by too high microstepping values.

If this isn't the problem I'll be surprised.

Orang_

@Phaedrux said in Rotary delta calibration not implemented?:

@Orang_ said in Rotary delta calibration not implemented?:

only with delta calibration and mesh compensation

Yes, and it's the quick movements to raise Z after probing that it's skipping, and those moves would be generating the most step pulses. The hiccups are indicating an issue caused by too high microstepping values.

If this isn't the problem I'll be surprised.

M350 X16 Y16 Z16 E16 
M92 X440.375 Y440.375 Z440.375 E440.375

does not solve the problem(((
How to reduce the speed of movement during calibration

Phaedrux

Are you still getting hiccups in M122 after a fresh reboot and running G32?

You can add some commands to bed.g to lower the acceleration, jerk, and max speed before the probing and then return it to normal again at the end.

Orang_

@Phaedrux said in Rotary delta calibration not implemented?:

Are you still getting hiccups in M122 after a fresh reboot and running G32?

You can add some commands to bed.g to lower the acceleration, jerk, and max speed before the probing and then return it to normal again at the end.

m122
=== Diagnostics ===
RepRapFirmware for LPC176x based Boards (biquskr_1.3) version 3.2_1 running on LPC176x at 100Mhz
Used output buffers: 3 of 16 (11 max)
=== RTOS ===
Static ram: 4956
Dynamic Memory (RTOS Heap 5): 8488 free, 8448 never used
Allocations: 212 Frees: 51
Never used RAM 256, free system stack 16 words
Tasks: NETWORK(ready,195) HEAT(blocked,243) MAIN(running,354) IDLE(ready,21)
Owned mutexes: WiFi(NETWORK)
=== Platform ===
Last reset 00:13:28 ago, cause: [power up][reset button]
Last software reset at 2021-01-11 23:51, reason: User, GCodes spinning, available RAM 256, slot 1
Software reset code 0x0003 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x00428000 BFAR 0xe000ed38 SP 0x00000000 Task MAIN Freestk 0 n/a
Error status: 0x00
Aux0 errors 0,0,0
Supply voltage: under voltage events: 0
Driver 0: position -21712, standstill, SG min/max 0/398, error r/w 2/0, ifcnt 19, cnt r/w 25110/19, timeout 0, failedOp 0xff
Driver 1: position -21712, standstill, SG min/max 0/270, error r/w 1/0, ifcnt 20, cnt r/w 25109/20, timeout 0, failedOp 0xff
Driver 2: position -21712, standstill, SG min/max 0/302, error r/w 3/0, ifcnt 19, cnt r/w 25108/19, timeout 0, failedOp 0xff
Driver 3: position 0, no-driver-detected
Driver 4: position 0
Driver 5: position 0
Driver 6: position 0
Date/time: 2021-01-12 00:08:22
Slowest loop: 69.25ms; fastest: 0.12ms
Step timer: target 216165456 count 808616327 delta -592450871 late 0
USBSerial connected 0
ADC not ready 2 ADC error threshold 10 ADC Init 1
Ints: 0; Calls 0; fast: 4294967295uS; slow 0uS adj 0 bad 0 big delta 0
PWM Channels
Delta 1234083299 Start -1 End -1
=== Storage ===
Free file entries: 4
SD card 0 detected
SD card longest read time 6.8ms, write time 5.9ms, max retries 0
=== Move ===
DMs created 40, maxWait 72981ms, bed compensation in use: none, comp offset 0.000
=== DDARing ===
Scheduled moves 38, completed moves 38, hiccups 37, stepErrors 0, LaErrors 0, Underruns [0, 0, 6], CDDA state -1
=== Heat ===
Bed heaters = 0, chamberHeaters = -1
Heater 1 is on, I-accum = 0.0
=== GCodes ===
Segments left: 0
Movement lock held by null
HTTP is idle in state(s) 0
File is idle in state(s) 0
USB is idle in state(s) 0
Aux is idle in state(s) 0
Trigger is idle in state(s) 0
Queue is idle in state(s) 0
Daemon is idle in state(s) 0
Autopause is idle in state(s) 0
Code queue is empty.
=== Network ===
Slowest loop: 240.66ms; fastest: 0.00ms
Responder states: HTTP(0) HTTP(0)
HTTP sessions: 1 of 2
- WiFi -
Network state is active
WiFi module is connected to access point 
Failed messages: pending 0, notready 0, noresp 0
WiFi firmware version 1.25B0-01L-D
WiFi MAC address e0:3f:49:23:39:c4
WiFi Vcc 2.93, reset reason Turned on by main processor
WiFi flash size 4194304, free heap 35656
WiFi IP address 192.168.1.97
WiFi signal strength -56dBm, mode 802.11n, reconnections 0, sleep mode modem
Clock register 00181001
Socket states: 0 0

Orang_

; bed.g
; called to perform automatic delta calibration via G32
;
; generated by RepRapFirmware Configuration Tool v3.2.1 on Mon Jan 11 2021 22:12:55 GMT+0200 (Восточная Европа, стандартное время)
M561 ; clear any bed transform
G1 F500
G0 F500
G28
G30 P0 X0.00 Y80.00 Z-99999 H33.385 
G30 P1 X69.28 Y-40.00 Z-99999 H33.385
G30 P2 X-69.28 Y-40.00 Z-99999 H33.385 
G30 P3 X0.00 Y40.00 Z-99999 H33.385 
G30 P4 X34.64 Y-20.00 Z-99999 H33.385 
G30 P5 X-34.64 Y-20.00 Z-99999 H33.385 
G30 P6 X0 Y0 Z-99999 S6

Orang_

https://drive.google.com/file/d/17lobb0XFThtsjyVlk1SSF1ID_IGeao0-/view?usp=sharing

M350 X16 Y16 Z16 E16
M92 X440.375 Y440.375 Z440.375 E440.375

Orang_

it seems to be a problem with the firmware in particular rotary delta kinematics

Phaedrux

@Orang_ said in Rotary delta calibration not implemented?:

G1 F500 G0 F500

That won't have any effect on the G30 moves. You'll need to do something like this.

; bed.g
; called to perform automatic delta calibration via G32
;
; generated by RepRapFirmware Configuration Tool v3.2.1 on Mon Jan 11 2021 22:12:55 GMT+0200 (Восточная Европа, стандартное время)
M561 ; clear any bed transform
G28
M566 X400 Y400 Z400       ; set maximum instantaneous speed changes (mm/min)
M203 X6000 Y6000 Z6000    ; set maximum speeds (mm/min)
M201 X400 Y400 Z400       ; set accelerations (mm/s^2)
G30 P0 X0.00 Y80.00 Z-99999 H33.385 
G30 P1 X69.28 Y-40.00 Z-99999 H33.385
G30 P2 X-69.28 Y-40.00 Z-99999 H33.385 
G30 P3 X0.00 Y40.00 Z-99999 H33.385 
G30 P4 X34.64 Y-20.00 Z-99999 H33.385 
G30 P5 X-34.64 Y-20.00 Z-99999 H33.385 
G30 P6 X0 Y0 Z-99999 S6
M566 X1200.00 Y1200.00 Z1200.00 E1200.00       ; set maximum instantaneous speed changes (mm/min)
M203 X18000.00 Y18000.00 Z18000.00 E1200.00    ; set maximum speeds (mm/min)
M201 X500.00 Y500.00 Z500.00 E1000.00       ; set accelerations (mm/s^2)

You might also want to reduce the travel speed in M558

M558 P5 C"^zstop" H5 F120 T1000

@Orang_ said in Rotary delta calibration not implemented?:

hiccups 37

That's much better

Also, is your motor current set appropriately for your motors? 60-85% of rated max is the rule of thumb.

Orang_

@Phaedrux said in Rotary delta calibration not implemented?:

Also, is your motor current set appropriately for your motors? 60-85% of rated max is the rule of thumb.

yes

Orang_

M566 X400 Y400 Z400 ; set maximum instantaneous speed changes (mm/min)
M203 X6000 Y6000 Z6000 ; set maximum speeds (mm/min)
M201 X400 Y400 Z400 ; set accelerations (mm/s^2)
also has no effect((((

Phaedrux

@Orang_ said in Rotary delta calibration not implemented?:

M203 X6000 Y6000 Z6000 ; set maximum speeds (mm/min)

Try to halve the speed values to 3000