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    Rotary delta calibration not implemented?

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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

      Orang_undefined 1 Reply Last reply Reply Quote 0
      • 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

        1 Reply Last reply Reply Quote 0
        • 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

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

                  @Orang_ said in Rotary delta calibration not implemented?:

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

                  That is correct. The problem is that there are potentially many calibration variables for a rotary delta. For example, there are two pivot locations (like the tower position corrections for a linear delta), three upper arm lengths, three lower arm lengths, three pivot height corrections, three homing position corrections, and the delta radius. That's 18 parameters. It's unlikely the by probing a flat bed and measuring the height errors, it would be possible to calibrate all of these. However, if some of these are known to be accurate (for example, if all the arms are manufactured to precise lengths) then it may be possible to auto-calibrate the remaining parameters.

                  I can try adding auto calibration when I have time, but it might not give very good results.

                  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 1
                  • Orang_undefined
                    Orang_
                    last edited by

                    @dc42 said in Rotary delta calibration not implemented?:

                    That is correct. The problem is that there are potentially many calibration variables for a rotary delta. For example, there are two pivot locations (like the tower position corrections for a linear delta), three upper arm lengths, three lower arm lengths, three pivot height corrections, three homing position corrections, and the delta radius. That's 18 parameters. It's unlikely the by probing a flat bed and measuring the height errors, it would be possible to calibrate all of these. However, if some of these are known to be accurate (for example, if all the arms are manufactured to precise lengths) then it may be possible to auto-calibrate the remaining parameters.
                    I can try adding auto calibration when I have time, but it might not give very good results.

                    Thank you, I really like your firmware, if there are any changes with the calibration, please let me know, I would be happy to test it. Also there is not a big group of people who own similar printers I think they will also support it.

                    PCRundefined dc42undefined 2 Replies Last reply Reply Quote 0
                    • jay_s_ukundefined
                      jay_s_uk
                      last edited by

                      I'll just make @gloomyandy aware of this thread

                      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

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

                        @Orang_ on another note. Is there a good project for building one? Saw this one this week: https://www.youtube.com/watch?v=Tj1KAbq99dc

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

                          @PCR I have one of these https://www.youtube.com/watch?v=COUdIsoDgMw&ab_channel=AlexKorvinWorkshop

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

                            @Orang_ https://www.thingiverse.com/thing:3489886

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

                              @jay_s_uk but smoothie doesn't work quite right.

                              jay_s_ukundefined 1 Reply Last reply Reply Quote 0
                              • jay_s_ukundefined
                                jay_s_uk @Orang_
                                last edited by

                                @Orang_ who said anything about smoothieware?

                                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

                                alankilianundefined 1 Reply Last reply Reply Quote 0
                                • alankilianundefined
                                  alankilian @jay_s_uk
                                  last edited by

                                  @jay_s_uk I think he's saying smoothie (which runs on that thingiverse-link printer) doesn't work, so he's looking at Duet firmware.

                                  SeemeCNC Rostock Max V3 converted to V3.2 with a Duet2 Ethernet Firmware 3.2 and SE300

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

                                    The project specified in the link works on smoothie. but I reconfigured it to rrf

                                    jay_s_ukundefined 1 Reply Last reply Reply Quote 1
                                    • jay_s_ukundefined
                                      jay_s_uk @Orang_
                                      last edited by

                                      @Orang_ ah, ok. no problem

                                      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

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

                                        @Orang_ said in Rotary delta calibration not implemented?:

                                        @dc42 said in Rotary delta calibration not implemented?:

                                        That is correct. The problem is that there are potentially many calibration variables for a rotary delta. For example, there are two pivot locations (like the tower position corrections for a linear delta), three upper arm lengths, three lower arm lengths, three pivot height corrections, three homing position corrections, and the delta radius. That's 18 parameters. It's unlikely the by probing a flat bed and measuring the height errors, it would be possible to calibrate all of these. However, if some of these are known to be accurate (for example, if all the arms are manufactured to precise lengths) then it may be possible to auto-calibrate the remaining parameters.
                                        I can try adding auto calibration when I have time, but it might not give very good results.

                                        Thank you, I really like your firmware, if there are any changes with the calibration, please let me know, I would be happy to test it. Also there is not a big group of people who own similar printers I think they will also support it.

                                        Do you know which parameters of your machine are likely to be accurate, and which need to be calibrated?

                                        Another issue may be available memory. The RAM needed to do the calculation goes up as the square of the number of parameters to be calibrated. Nine is OK because that's the maximum supported on linear delta printers.

                                        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

                                        Orang_undefined 2 Replies Last reply Reply Quote 0
                                        • Orang_undefined
                                          Orang_ @dc42
                                          last edited by

                                          @dc42 said in Rotary delta calibration not implemented?:

                                          Do you know which parameters of your machine are likely to be accurate, and which need to be calibrated?
                                          Another issue may be available memory. The RAM needed to do the calculation goes up as the square of the number of parameters to be calibrated. Nine is OK because that's the maximum supported on linear delta printers.

                                          M669 K10 U169.85 L320 R55.94 A-45:52 H432 X-60,Y60,Z180
                                          U, L, - maybe accurate enough to measure;
                                          R,H - within a small margin of error
                                          A - it is difficult to measure without special tools
                                          x y z - depends on the construction of the printer

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                                          • Orang_undefined
                                            Orang_ @dc42
                                            last edited by

                                            @dc42
                                            "Another issue may be available memory. The RAM needed to do the calculation goes up as the square of the number of parameters to be calibrated. Nine is OK because that's the maximum supported on linear delta printers."

                                            is it possible in the future to add support for spi or i2c external ram?
                                            or is it easier to buy a board with more memory?

                                            dc42undefined 1 Reply Last reply Reply Quote 0
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