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    Haq XY

    Scheduled Pinned Locked Moved
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    • Visionaryundefined
      Visionary @MaxGyver
      last edited by

      @MaxGyver

      I had problem where when doing homing U and X axes lost position during all axis homing. Those axes moved against endstops and lost steps/belt skipped.
      This was because homeall.g included wrong move type: 1 motor move -type move (H2-command)
      I switched it to H0. I think that you are also suppose to use H-command instead of S-commands.

      check: https://duet3d.dozuki.com/Wiki/Gcode#Section_G0_G1_Move

      My corrected homeall.g

      ; Haq xy homing, U and X axes concurrently, Y axis after that and Z axis last
      G91
      G1 H2 Z7 F200 					; raise head 7mm to keep it clear of the bed
      G1 H1 X-405 U405 F3000 			 ; coarse home X and U
      G1 H2 X5 U-5 F600              ; move 4mm away from the homing switches
      G1 H1 X-10 U10 F600           			; fine home X and U
      G1 H1 Y-420 F2000
      G1 H0 Y5 F600
      G1 H0 Y-5.5 F600
      G1 H1 Z-380 F360                ; move Z down stopping at the endstop
      G90
      

      Main printer: 3-5 Axis, 400x400x450 Duet 6HC || https://grabcad.com/eetu-4/models

      MaxGyverundefined 1 Reply Last reply Reply Quote 0
      • MaxGyverundefined
        MaxGyver @Visionary
        last edited by

        @Visionary
        Would you do me a favour and post your config file? I think with my setup there is more wrong than just the homing file. 😬

        -Cheers
        Max

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

          @MaxGyver said in Haq XY:

          @dc42 I just reversed the Y motor and when I do G1 X10 F1000 S2 the Y axis moves in the right direction (+10).

          That will have changed the direction of X axis movement too.

          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

          dc42undefined 1 Reply Last reply Reply Quote 0
          • RootCNCundefined
            RootCNC
            last edited by

            Hey everyone,

            last night I got my HAQ XY or markforged IDEX printer moving and homing correctly last night.

            you can see it moving here: https://fb.watch/38agipCwQx/

            Here is my config, once you get your head around the matrix manipulation it was easy to ensure it was moving in the correct direction.

            The magic happens on M669 command....

            ; Configuration file for Duet 3 (firmware version 3)
            ; executed by the firmware on start-up
            ;
            ; generated by RepRapFirmware Configuration Tool v3.2.2 on Tue Jan 19 2021 18:42:53 GMT+0000 (Greenwich Mean Time)
            
            ; General preferences
            G90                                     ; send absolute coordinates...
            M83                                     ; ...but relative extruder moves
            M550 P"Duet3"                          ; set printer name
            
            ; Drives
            M569 P0.0 S0                            ; (Y)  physical drive 0.0 goes forwards
            M569 P0.1 S0                            ; (X1) physical drive 0.1 goes forwards
            M569 P0.2 S1                            ; (X2) physical drive 0.2 goes forwards
            M569 P0.3 S1                            ; (Z)  physical drive 0.3 goes forwards
            M569 P0.4 S1                            ; (E1) physical drive 0.4 goes forwards
            M584 X0.1 U0.2 Y0.0 Z0.3 E0.4           ; set drive mapping
            M350 X64 U64 Y64 Z64 E16 I1                 ; configure microstepping with interpolation
            M669 K1 X1:0:0:0 Y1:-1:0:1 Z0:0:1:0 U0:0:0:1; Matrix mapping for Axis - X:Y:Z:U
            M92 X400.00 U400.00 Y400.00 Z1600.00 E420.00    ; set steps per mm
            M566 X900.00 U900.00 Y900.00 Z180.00 E120.00    ; set maximum instantaneous speed changes (mm/min)
            M203 X6000.00 U6000.00 Y6000.00 Z180.00 E1200.00 ; set maximum speeds (mm/min)
            M201 X500.00 U500.00 Y500.00 Z20.00 E250.00     ; set accelerations (mm/s^2)
            M906 X1200 U1200 Y1200 Z1200 E800 I30         ; set motor currents (mA) and motor idle factor in per cent
            M84 S30                                 ; Set idle timeout
            
            ; Axis Limits
            M208 X-45 U45 Y0 Z0 S1                        ; set axis minima
            M208 X220 U310 Y215 Z200 S0                  ; set axis maxima
            
            ; Endstops
            M574 X1 S3                              ; configure sensorless endstop for low end on X
            M574 Y1 S3                              ; configure sensorless endstop for low end on Y
            M574 Z1 S3                              ; configure sensorless endstop for low end on Z
            M574 U2 S3                              ; configure sensorless endstop for high end on U
            M915 X U Y Z R0 F0						; Configure motor stall detection
            
            ; Z-Probe
            M558 P0 H5 F120 T6000                   ; disable Z probe but set dive height, probe speed and travel speed
            M557 X15:215 Y15:195 S20                ; define mesh grid
            
            ; Heaters
            
            ; Fans
            M950 F0 C"out8" Q500                    ; create fan 0 on pin out8 and set its frequency
            M106 P0 S0 H-1                          ; set fan 0 value. Thermostatic control is turned off
            M950 F1 C"out9" Q500                    ; create fan 1 on pin out9 and set its frequency
            M106 P1 S1 H-1                          ; set fan 1 value. Thermostatic control is turned off
            
            ; Tools
            M563 P0 D0 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 are not defined
            
            ; Miscellaneous
            M575 P1 S1 B57600                       ; enable support for PanelDue
            
            

            Homing wise:
            here is an example of my homing script (the standard IDEX setup guild is very good)

            ; homex.g
            ; called to home the X axis
            M400
            M913 X50 U50 Y50 ; drop motor current to 70%
            M400 
            G91; relative positioning
            ;G1 H2 Z10 F12000 ; lift Z relative to current position
            G1 H1 X-320.5 F10000 ; move quickly to X axis endstop and stop there (first pass)
            G1 H2 X5 F12000 ; go back a few mm
            G1 H1 X-320.5 F7000 ; move slowly to X axis endstop once more (second pass)
            ;G1 H2 Z-10 F6000 ; lower Z again
            G90 ; absolute positioning
            M400
            M913 X100 U100 Y100 ; return current to 100%
            M400
            

            Please note I'm doing sensorless homing

            1 Reply Last reply Reply Quote 2
            • dc42undefined
              dc42 administrators @dc42
              last edited by

              @dc42 said in Haq XY:

              @MaxGyver said in Haq XY:

              @dc42 I just reversed the Y motor and when I do G1 X10 F1000 S2 the Y axis moves in the right direction (+10).

              That will have changed the direction of X axis movement too.

              I'm sorry, that would have been correct for CoreXY kinematics, not MarkForged kinematics. HaqXY is dual MarkForged.

              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
              • Visionaryundefined
                Visionary @MaxGyver
                last edited by

                @MaxGyver

                Note that I'am too trying to get my printer working correctly. I have some problems for example with tool offsets. Please make sure that any parameters you take from it are correct for your machine.

                my config at the moment:

                ; General preferences
                G90                                                ; send absolute coordinates...
                M83                                                ; ...but relative extruder moves
                M550 P"My Printer"                                 ; set printer name                                
                M669 K11 Y-1:-1:0:1  
                
                ; Network
                M552 P0.0.0.0 S1                                   ; enable network and acquire dynamic address via DHCP
                M586 P0 S1                                         ; enable HTTP
                M586 P1 S0                                         ; disable FTP
                M586 P2 S0                                         ; disable Telnet
                
                ; Drives
                M569 P0.0 S1                              		   ; physical drive 0.0 goes forwards X
                M569 P0.1 S1                               		   ; physical drive 0.1 goes forwards U
                M569 P0.2 S1                                       ; physical drive 0.2 goes forwards Y
                M569 P0.3 S1                                       ; physical drive 0.3 goes forwards Z
                M569 P0.4 S1                                       ; physical drive 0.4 goes forwards E0
                M569 P0.5 S1                                       ; physical drive 0.5 goes forwards E1
                
                M584 X0.1 U0.0 Y0.2 Z0.3 E0.4:0.5                          	; set drive mapping
                M350 X16 U16 Y16 Z16 E16:16 I1                              ; configure microstepping without interpolation
                M92 X80.00 U80.00 Y80.00 Z640.00 E2700:208          		; set steps per mm
                M566 X600.00 U600.00 Y600.00 Z60.00 E40.00:300              ; set maximum instantaneous speed changes (mm/min)
                M203 X12000.00 U12000.00 Y12000.00 Z180.00 E1800.00:1000          ; set maximum speeds (mm/min)
                M201 X1000.00 U1000.00 Y1000.00 Z20.00 E120.00:600                ; set accelerations (mm/s^2)
                M906 X1200 U1200 Y1000 Z1000 E980:980 I45                    	; set motor currents (mA) and motor idle factor in per cent
                M84 S30                                            				; Set idle timeout
                
                M569 P0.0 V25 H25 D3  
                M569 P0.1 V25 H25 D3                           
                M569 P0.2 V25 H25 D3                         
                
                M915 P0.0 S3 R0 H134 T25 F1	
                M915 P0.1 S3 R0 H134 T25 F1			
                M915 P0.2 S3 R0 H134 T25 F1
                
                ; Axis Limits
                M208 X-42.3 U41 Y0 Z0 S1                                   	; set axis minima
                M208 X400 U439.6 Y400 Z375 S0                             	; set axis maxima
                
                ; Endstops
                M574 X1 S1 P"!^io1.in"                             	; configure active-high endstop for low end on X via pin !^io2.in
                M574 U2 S1 P"!^io2.in"                             	; configure active-high endstop for high end on U via pin !^io1.in
                M574 Y1 S1 P"io5.in"                             	; configure active-high endstop for low end on Y via pin !^io3.in
                M574 Z1 S1 P"!^io4.in"                             	; configure active-high endstop for low end on Z via pin !^io4.in
                
                ; Z-Probe
                M558 P0 H5 F120 T6000                              ; disable Z probe but set dive height, probe speed and travel speed
                M557 X15:215 Y15:195 S20                           ; define mesh grid
                
                ; Heaters
                M308 S0 P"temp0" Y"thermistor" T100000 B3974       ; configure sensor 0 as thermistor on pin temp0
                M950 H0 C"out0" T0                                 ; create bed heater output on out0 and map it to sensor 0
                M307 H0 B1 S1.00                                   ; enable bang-bang mode for the bed heater and set PWM limit
                M140 H0                                            ; map heated bed to heater 0
                M143 H0 S130                                       ; set temperature limit for heater 0 to 120C
                
                M308 S1 P"temp1" Y"thermistor" T100000 B4725 C7.06e-8       ; configure sensor 1 as thermistor on pin temp2
                M950 H1 C"out1" T1                                 ; create nozzle heater output on out1 and map it to sensor 1
                M307 H1 B0 S1.00                                   ; disable bang-bang mode for heater  and set PWM limit
                M307 H1 R2.399 C262.2 D5.02 S1 V23.8
                M143 H1 S280                                       ; set temperature limit for heater 1 to 280C
                
                M308 S2 P"temp2" Y"thermistor" T100000 B4725 C7.06e-8       ; configure sensor 1 as thermistor on pin temp2
                M950 H2 C"out2" T2                                 ; create nozzle heater output on out1 and map it to sensor 1
                M307 H2 B0 S1.00                                   ; disable bang-bang mode for heater  and set PWM limit
                M307 H2 R2.125 C261.6 D5.93 S1.00 V23.8
                M143 H2 S280                                       ; set temperature limit for heater 1 to 280C
                
                M307 H0 A110 C180 D5 B1 						   ; Bed slow temperature rise
                
                ; Fans
                M950 F0 C"out7" Q500                               ; create fan 0 on pin out7 and set its frequency
                M106 P0 S0 H-1                                     ; set fan 0 value. Thermostatic control is turned off
                M950 F1 C"out8" Q500                               ; create fan 1 on pin out8 and set its frequency
                M106 P1 S0 H-1                                     ; set fan 1 value. Thermostatic control is turned off
                
                ; Tools 
                ; tool 0, X-axis
                M563 P0 D0 H1 X0 F0                                 		; define tool 0
                G10 P0 R0 S0 X0 Y0 Z0                                    	; set tool 0 axis offsets
                ; tool 1, U-axis 
                M563 P1 D1 H2 X3 F1
                G10 P1 R0 S0 Y-0.1 U0 Z0                                      	; set initial tool 1 active and standby temperatures to 0C
                
                ; Custom settings are not defined
                
                ; Miscellaneous
                M575 P1 S1 B57600                                  ; enable support for PanelDue
                M911 S10 R11 P"M913 X0 Y0 G91 M83 G1 Z3 E-5 F1000" ; set voltage thresholds and actions to run on power loss
                
                T0													; select tool
                
                

                Main printer: 3-5 Axis, 400x400x450 Duet 6HC || https://grabcad.com/eetu-4/models

                1 Reply Last reply Reply Quote 0
                • MaxGyverundefined
                  MaxGyver
                  last edited by

                  @Visionary
                  @dc42

                  I have tested multiple configurations, but the issue is persistent.

                  Every time I home Y-Axis, the distance the axis has to travel to hit the end stop minus the amount it is allowed to travel is added to X and U.

                  Example:

                  1. I set the Y-Axis at a distance of 100mm from the endstop and restart the printer to set everything to zero.

                  2. I run homey.g

                  G91 			; relative positioning
                  G1 H1 Y-330 F2500	; coarse home Y
                  G90 			; absolute positioning
                  
                  1. Y is now 0, X is -230 and U is at 230

                  (-230mm = 100mm distance to Endstop -330mm maximum homing distance as specified homey.g)

                  I don't know what I am missing here...

                  ; Configuration file for Duet 3 (firmware version 3)
                  ; executed by the firmware on start-up
                  ; generated by RepRapFirmware Configuration Tool v3.1.4 on Wed Aug 05 2020 11:42:30 GMT+0200 (MitteleuropƤische Sommerzeit)
                  
                  ; General preferences
                  G90                                             ; send absolute coordinates...
                  M83                                             ; ...but relative extruder moves
                  M550 P"Duet 3"                                  ; set printer name
                  ; Chamer Fan
                  M950 F2 C"!out5" F25000 
                  M106 P2 S0 B0 L0.20 X0.5 H1 T40:200
                  M80 ; Power ON
                  
                  M669 K11 Y1:-1:0:-1
                  ;M669 K1 X1:0:0:0 Y1:-1:0:1 Z0:0:1:0 U0:0:0:-1		; Matrix mapping for Axis - X:Y:Z:U
                  
                  M569 P0.0 S1		; Drive 0.0/Z1
                  M569 P0.1 S1		; Drive 0.1/Z2
                  M569 P0.2 S1		; Drive 0.2/Z3
                  M569 P0.3 S1		; Drive 0.3/Z4
                  M569 P0.4 S0		; Drive 0.4/Y1
                  M569 P0.5 S1		; Drive 0.5/Y2
                  M569 P1.0 S0		; Drive 1.0/X
                  M569 P1.1 S0		; Drive 1.1/U
                  M569 P1.2 S0		; Drive 1.2/E0
                  
                  M584 Z0.0:0.1:0.2:0.3 Y0.4:0.5 X1.0 U1.1 E1.2 		; set 4 Z drivers and add one U driver -> Must come earlier than M350,M906,M92, M201, M203, M208, M350, M566, M574, M667 and M669
                  M671 X-49:498:498:-39 Y-21:-21:309:309 S10 			; lead screw positions
                  M350 U16 X16 Y16 Z16 I1    		            		; Configure microstepping with interpolation
                  M350 E16 I0 										; Configure microstepping with interpolation
                  M92 U80 X80 Y80 Z800 V2500 W2500 E455	;476.5 		; Set steps per mm
                  M203 U48000 X48000 Y48000 V1000 W1000 Z2000 E6000	; Set maximum speeds (mm/min)
                  M566 U800 X800 Y800 V50 W50 Z300 E3000          	; set maximum instantaneous speed changes (mm/min)
                  M201 U2500 X2500 Y2500 V250 W250 Z200 E3000	 		; Set accelerations (mm/s^2)
                  M906 U1500 X1500 Y1500 V1000 W1000 Z1500 E800 I30	; Set motor currents (mA) and motor idle factor in per cent
                  M84 S10                                       		; Set idle timeout
                  
                  ; Axis Limits
                  ;M208 U-30:400 X430:0 Y0:320 Z0:337.5 V-9999:9999 W-9999:9999	; Set axis minima:maxima
                  ; Axis Limits
                  M208 X0 U0 Y0 Z0 S1                      ; set axis minima
                  M208 X430 U430 Y320 Z337.5 S0                  ; set axis maxima
                   
                  ; Endstops
                  ;M574 X1 U2 Y2 Z1.5 S1                          	; Set active high endstops
                  M574 X2 S1 P"io0.in"                            	; configure active-high endstop for high end on X via pin io1.in
                  M574 Y1 S1 P"io1.in"                            	; configure active-high endstop for low end on Y via pin io1.in
                  M574 U1 S1 P"io2.in"                            	; configure active-high endstop for low end on U via pin io3.in
                  M574 Z2 S1 P"io3.in"                            	; configure active-high endstop for high end on Z via pin io0.in
                  
                  ; Servo
                  ;M950 S0 C"io4.out"
                  ;M280 P0 S0
                  
                  ; Bed Heater
                  M308 S0 P"temp0" A"Bed" Y"thermistor" T100000 B3950 ; define bed temperature sensor
                  M950 H0 C"out8" T0                              	; create bed heater output on bed output and map it to sensor 0
                  M143 H0 S120                                    	; set temperature limit for heater 0 to 120C
                  M307 H0 B1 S1.00                               		; enable bang-bang mode for the bed heater and set PWM limit
                  M140 H0                                         	; map heated bed to heater 0
                  
                  ; Hotend1 Heater
                  M308 S1 P"temp1" A"Extruder1" Y"pt1000" 			; configure sensor 1 as PT1000 on pin temp1
                  M950 H1 C"out1" T1                             		; create nozzle heater output on out1 and map it to sensor 1
                  M143 H1 S280                                    	; set temperature limit for heater 1 to 280C
                  M307 H1 B0 S1.00                                	; disable bang-bang mode for heater  and set PWM limit
                  
                  M307 H1 A765.9 C354.3 D4.8 S1.0 V23.8 B0
                  M307 H0 A103.3 C269.6 D1.6 S1.0 V23.9 B0
                  
                  ; Temperature Sensors
                  ;M308 S3 P"temp2" Y"pt1000"  A"Chamber"
                  M308 S2 P"temp3" Y"pt1000"  A"Chamber" 
                  
                  ; Fans
                  M950 F0 C"out7" A"Hotend Fan"			 	; create fan 0 on pin out7 and set its frequency
                  M106 P0 S1 H1 T65 L1	 		            ; set fan 0 value. Thermostatic control is turned on
                  
                  M950 F1 C"out3" Q-1 A"Part Fan"       		; create fan 1 on pin out8 and set its frequency
                  M106 P1 S0 H-1								; set fan 1 value. Thermostatic control is turned off
                  
                  ; MCU Fan
                  ;M308 S4 Y"drivers" 			  			; configure sensor 4 as temperature warning and overheat flags on the TMC2660 on Duet
                  M308 S4 Y"mcu-temp" A"MCU" 					; configure sensor5 as thermistor on pin e1temp for left stepper
                  M950 F4 C"out4" Q100 						; create fan 4 on out4 and set its frequency                        
                  M106 P4 S0 B1 H4 L0.3 X1 T40:60 			; set fan 4 value
                  
                  ; Tools
                  M563 P0 D0 H1 F1                            ; define tool 0
                  G10 P0 X0 Y0 Z0 R0 S0
                  
                  ; LED
                  M950 P3 C"1.out0"
                  M42 P3 S1
                  
                  ; Air Cooler
                  M950 F5 C"out6"
                  ;M106 P5 L0.2 X1 H2 T18:20
                  M106 P5 S1 H1
                  
                  ;Pressure Advance
                  M572 D0 S0.025 ; Extruder Drive Number, Pressure advance amount
                  
                  ;Dynamic acceleration adjustment
                  ;M593 F50  ; cancel ringing at 40.5Hz
                  
                  ; Miscellaneous
                  ; M911 S22 R23 P"M18 M106 P1 S0 M42 P3 S0"				; set voltage thresholds and actions to run on power loss G91 M83 G1 Z1 E-1 F1000
                  T0                                                  	; select first tool
                  M501													; set the active parameters to those stored in sys/config-override.g
                  
                  Visionaryundefined dc42undefined 2 Replies Last reply Reply Quote 0
                  • Visionaryundefined
                    Visionary @MaxGyver
                    last edited by

                    @MaxGyver

                    In my HaqXY I have X-, Y- and Z-axes endstops at low end of the axes, but in your config.g you have Z- and X-axis endstops at high end. Is this on purpose? Only axis that I home to high end is U-axis.

                    Main printer: 3-5 Axis, 400x400x450 Duet 6HC || https://grabcad.com/eetu-4/models

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

                      @MaxGyver said in Haq XY:

                      Every time I home Y-Axis, the distance the axis has to travel to hit the end stop minus the amount it is allowed to travel is added to X and U.

                      That's either a firmware bug that nobody else has reported, or an incorrect matrix, or an incorrect homing file.

                      After homing both X and Y (or sending G92 X0 Y0 to pretend they are homed), do normal G1 Xxx and G1 Yyy moves with no H parameter work correctly?

                      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

                      MaxGyverundefined 1 Reply Last reply Reply Quote 0
                      • MaxGyverundefined
                        MaxGyver @dc42
                        last edited by

                        @Visionary Yes, this is correct. I have my XUY zero at the rear right-hand side of my printer with the first extruder on the left (X-Axis) and the second on the right (U-Axis).

                        @dc42 Yes, these moves are executed correctly. I am using this printer for quite a while now. Most of the time this issue is not a problem since I rehome all axes before starting prints or executing macros. But If I don't rehome all axis in the correct order it leads to crashes.

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

                          @MaxGyver said in Haq XY:

                          @Visionary Yes, this is correct. I have my XUY zero at the rear right-hand side of my printer with the first extruder on the left (X-Axis) and the second on the right (U-Axis).

                          @dc42 Yes, these moves are executed correctly. I am using this printer for quite a while now. Most of the time this issue is not a problem since I rehome all axes before starting prints or executing macros. But If I don't rehome all axis in the correct order it leads to crashes.

                          Thans, I'll log this as a bug to be fixed in RRF 3.3.

                          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
                            last edited by

                            Hi @MaxGyver, I have reproduced this and tracked down two issues that are causing it:

                            • The first issue (the main one) is that when the homing move stops, the firmware needs to retrieve the number of steps taken by the X, Y and U motors. This data is not currently available for the X and U motors because they are CAN-connected and the move has been terminated early.
                            • The second issue is that in config.g the M584 command should precede the M669 command, so that the U axis exists when you use M669 and in consequence it builds and inverts a 4x4 matrix instead of a 3x3 matrix.

                            I will work on a solution to the first issue.

                            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

                            MaxGyverundefined 1 Reply Last reply Reply Quote 0
                            • MaxGyverundefined
                              MaxGyver @dc42
                              last edited by

                              @dc42

                              I am glad to hear that! Thank you very much for your feedback.

                              -Max

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