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    Rotary delta calibration not implemented?

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    • jay_s_ukundefined
      jay_s_uk @Orang_
      last edited by

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

      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

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      • Phaedruxundefined
        Phaedrux Moderator @Orang_
        last edited by

        @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.

        Z-Bot CoreXY Build | Thingiverse Profile

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        • Orang_undefined
          Orang_ @Phaedrux
          last edited by

          @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

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          • Phaedruxundefined
            Phaedrux Moderator
            last edited by

            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.

            Z-Bot CoreXY Build | Thingiverse Profile

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            • Orang_undefined
              Orang_ @Phaedrux
              last edited by

              @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
              
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              • Orang_undefined
                Orang_
                last edited by

                ; 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
                
                Phaedruxundefined 1 Reply Last reply Reply Quote 0
                • Orang_undefined
                  Orang_
                  last edited by

                  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

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                  • Orang_undefined
                    Orang_
                    last edited by

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

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                    • Phaedruxundefined
                      Phaedrux Moderator @Orang_
                      last edited by 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.

                      Z-Bot CoreXY Build | Thingiverse Profile

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                      • Orang_undefined
                        Orang_
                        last edited by

                        @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_undefined 1 Reply Last reply Reply Quote 0
                        • Orang_undefined
                          Orang_ @Orang_
                          last edited by

                          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((((

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

                            @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

                            Z-Bot CoreXY Build | Thingiverse Profile

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                            • Orang_undefined
                              Orang_
                              last edited by

                              sorry I have M203 X1000 Y1000 Z1000

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                              • Orang_undefined
                                Orang_
                                last edited by

                                could this have something to do with that t2 tool? the printer is set up so that 0 is the effector, or rather the fisheye center

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                                • Phaedruxundefined
                                  Phaedrux Moderator @Orang_
                                  last edited by

                                  @Orang_ said in Rotary delta calibration not implemented?:

                                  ; Tools M563 P0 D0 H1 F0 ; define tool 0 G10 P0 X0 Y0 Z ; set tool 0 axis offsets G10 P0 R0 S0 ; set initial tool 0 active and standby temperatures to 0C M563 P2 S"2rr" D0 H1 F0 ; define tool 2 G10 P2 X0 Y0 Z-23.3 ; set tool 2 axis offsets G10 P2 R0 S0 M563 P5 S"TEST" D0 H1 F0 ; define tool 2 G10 P2 X0 Y0 Z-29.3 ; set tool 2 axis offsets G10 P2 R0 S0

                                  You mean this?

                                  Why does it go from P0 to P2 then P5, but P5 still uses G10 commands with P2?

                                  Z-Bot CoreXY Build | Thingiverse Profile

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                                  • Orang_undefined
                                    Orang_ @Phaedrux
                                    last edited by

                                    @Phaedrux said in Rotary delta calibration not implemented?:

                                    Why does it go from P0 to P2 then P5, but P5 still uses G10 commands with P2?

                                    I switched to rrf firmware not long ago

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                                    • Orang_undefined
                                      Orang_
                                      last edited by

                                      @Phaedrux said in Rotary delta calibration not implemented?:

                                      You mean this?

                                      I mean that during normal movement the printer moves correctly, during arc calibration you can see it on the video. it can be related to the offset of the tool and the sensor

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                                      • Phaedruxundefined
                                        Phaedrux Moderator
                                        last edited by

                                        I'm not exactly sure how the -Z offset on tool2 is going to have an effect. I'm not even really sure what the reasoning or intension is there.

                                        You're using an IR sensor though, so you should have an XY offset configured for it in G31

                                        G31 X0 Y0 Z33.385 P25

                                        And the Z trigger height should be calibrated.

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

                                        I would try simplifying your tool definitions to
                                        ; Tools
                                        M563 P0 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

                                        And then select T0 at the end of config.g instead of T2

                                        Then try G32 again.

                                        Z-Bot CoreXY Build | Thingiverse Profile

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                                        • Orang_undefined
                                          Orang_
                                          last edited by

                                          https://github.com/Duet3D/RepRapFirmware/blob/dev/src/Movement/Kinematics/RotaryDeltaKinematics.cpp

                                          221 bool RotaryDeltaKinematics::DoAutoCalibration(size_t numFactors, const RandomProbePointSet& probePoints, const StringRef& reply)
                                          222 {
                                          223 	return true;	// auto calibration not implemented yet
                                          224 }
                                          225 
                                          226 // Write the parameters that are set by auto calibration to a file, returning 227 true if success
                                          228 bool RotaryDeltaKinematics::WriteCalibrationParameters(FileStore *f) const
                                          229 {
                                          230	return true;	// auto calibration not implemented yet
                                          231 }
                                          
                                          Orang_undefined 1 Reply Last reply Reply Quote 0
                                          • Orang_undefined
                                            Orang_ @Orang_
                                            last edited by

                                            I understand correctly that there is no calibration for rotary delta?

                                            dc42undefined 1 Reply Last reply Reply Quote 0
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