Core XYUV homing going squiffy

pcsentinel

Hi All, I am trying to sort out my homing files for my new core XYUV. every time I think I am getting somewhere then another issue raises its head.

My Axis and endstops are set as follows
M208 X320 Y320 U350 Z250 S0 ; Set axis maxima
M208 X-33 Y0 U0 Z0 S1 ; Set axis minima
M574 X1 S1
M574 Y2 S1
M574 U2 S1
M574 V1 S0
M574 Z2 S1

So
X Endstp is to the left and results in -33X
U endstop is to the right and results in +350U
Y Endstop is to the back and results in +320Y

Home X is:
G91 ; relative positioning
G1 H1 X-700 F1800 ; move quickly to X axis endstop and stop there (first pass)
G1 X10 F1800 ; go back a few mm
G1 H1 X-700 F360 ; move slowly to X axis endstop once more (second pass)
G90 ; absolute positioning

Home U is:
G91 ; relative positioning
G1 H1 U700 F1800; move quickly to X axis endstop and stop there (first pass)
G1 U-10 F1800 ; go back a few mm
G1 H1 U700 F360 ; move slowly to X axis endstop once more (second pass)
G90 ; absolute positioning

Home Y is:
G91 ; relative positioning
G1 H1 Y700 F1800 ; move quickly to Y axis endstop and stop there (first pass)
G1 Y-10 F1800 ; go back a few mm
G1 H1 Y700 F360 ; move slowly to Y axis endstop once more (second pass)
G90 ; absolute positioning

The problem that I am facing is that after startup I home X then X position shows as -33 which is what I would expect. If I then Home Y, then the reported X position goes to 0 and the reported Y position goes to 320. If I then home U then the X and Y positions are 0 and the U position shows as 350.

I don't understand why the other 2 positions are being negated.

I haven't even included dropping the bed and raising it again yet. It all seems very strange.

Phaedrux

Please post your full config.g please along with the results of M122 and M98 P"config.g".

pcsentinel

; General preferences
M111 S0 ; Debugging off
M555 P2 ; Set firmware compatibility to look like Marlin
M84 S120 ; Set idle timeout

;Movement
M669 K5 ; switch to CoreXY mode
M569 P0 S1 ; X Drive 1 goes backwards
M569 P1 S1 ; Y Drive 1 goes forwards
M569 P5 S0 ; U Drive 1 goes backwards
M569 P6 S0 ; V Drive 1 goes forwards
M569 P3 S0 ; E0 Drive 3 goes forwards
M569 P8 S0 ; Z Left Drive 8 goes forwards
M569 P9 S0 ; Z Right Drive 9 goes forwards
M584 X0 Y1 U5 V6 Z8:9 E3:4 P4; assign drives to axis

M574 X1 S1
M574 Y2 S1
M574 U2 S1
M574 V1 S0
M574 Z2 S1
;M574 Z2 S0
;M574 Y2 S1
;M574 X1 Y1 U0 Z2 S0 ; Set endstop configuration (X and Y endstops at low end, U endstop at high end, active high, no Z endstop)

M906 X1000 Y1000 U1000 V1000 Z1000 E1000:1000; Set motor currents (mA) and motor idle factor in per cent

M201 X1000 Y1000 U1000 V1000 Z250 E250,250 I30; Set accelerations (mm/s^2)

M203 X5000 Y5000 U5000 V5000 Z500 E1200:1200 ; Set maximum speeds (mm/min) bumped up extruder settings
; the above settings are set by using the EMF Calculator  on RepRapFirware.org essentially limiting max speed to 80mm/s

M566 X1200 Y1200 U1200 V1200 Z250 E420:420 ; Set maximum instantaneous speed changes (mm/min) bumped up extruder settings

; The above settings are set to 25% of desired maximum printing speed of 70mm/s = 1050

M208 X320 Y320 U350 Z250 S0 ; Set axis maxima
M208 X-33 Y0 U0 Z0 S1 ; Set axis minima

M92 X160 Y160 U160 V160 Z400 E837:837 ; Set steps per mm
M350 X16 Y16 U16 V16 Z16 E16:16 I1 ; Configure microstepping with interpolation

G21 ; Work in millimetres
G90 ; Send absolute coordinates...
M83 ; ...but relative extruder moves

; Z Probe
M558 P1 H3 F120 T6000 A2; Set Z probe type to unmodulated, the axes for which it is used and the probe + travel speeds
G31 P500 X30 Y0 Z2.18; with an elephant foot compensation of 0.1

; Heaters
M143 S260 ; Set maximum heater temperature to 260C
M305 P0 T100000 B4725 C7.060000e-8 R4700 ; Set Bed thermistor + ADC parameters
M305 P1 T100000 B4725 C7.060000e-8 R4700 ; Set Heater 1 thermistor + ADC parameters
M305 P2 T100000 B4725 C7.060000e-8 R4700 ; Set Heater 2 thermistor + ADC parameters

; Tools
M563 P0 D0 H1 F1; Define tool 0
G10 P0 X0 Y0 Z0 S0 R0 ; Set tool 0 axis offsets

M563 P1 D1 H2 X3 F2; Define tool 1 
G10 P1 Y0 U0 Z0 S0 R0 ; Set tool 1 axis offsets

; Network
M550 P"K8200Duet" ; Set machine name
;M552 S1 ; Enable network and acquire dynamic address via DHCP
M552 S2 ; Enable access point mode

; Fans
M106 P0 S1 I0 F500 H1 T45 ; Set fan 0 value, Extruder 1 Fan. PWM signal inversion and frequency. Thermostatic control is turned on
M106 P1 S1 I0 F500 H2 T45 ; Set fan 1 value, Extruder 2 Fan. PWM signal inversion and frequency. Thermostatic control is turned on
M106 P2 S0 I0 F500 H-1 ; Set fan 1 value, Extruder 1 Part Fan. PWM signal inversion and frequency. Thermostatic control is turned off
M106 P3 S0 I0 F500 H-1 ; Set fan 2 value, Extruder 2 Part Fan.PWM signal inversion and frequency. Thermostatic control is turned off

; Custom settings are not configured


; Miscellaneous
;M106 P8 S1	    ; Turn on light
;M140 S30	    ; Preheat Bed
M501                ; Run config-override.g
;G29 S1 		    ; Load the heightmap
T0                  ; Select the first head

M122:

M122
=== Diagnostics ===
RepRapFirmware for Duet 2 WiFi/Ethernet version 2.05.1 running on Duet WiFi 1.02 or later + DueX5
Board ID: 08DAM-999TL-MQ4S8-6JTD2-3SD6R-9N8RZ
Used output buffers: 3 of 24 (15 max)
=== RTOS ===
Static ram: 25712
Dynamic ram: 93980 of which 84 recycled
Exception stack ram used: 656
Never used ram: 10640
Tasks: NETWORK(ready,628) HEAT(blocked,1232) DUEX(suspended,160) MAIN(running,3736) IDLE(ready,160)
Owned mutexes:
=== Platform ===
Last reset 00:34:37 ago, cause: software
Last software reset at 2021-02-03 16:23, reason: User, spinning module GCodes, available RAM 10640 bytes (slot 3)
Software reset code 0x0003 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x0441f000 BFAR 0xe000ed38 SP 0xffffffff Task 0x4e49414d
Error status: 0
Free file entries: 10
SD card 0 detected, interface speed: 20.0MBytes/sec
SD card longest block write time: 0.0ms, max retries 0
MCU temperature: min 31.7, current 32.4, max 33.3
Supply voltage: min 24.1, current 24.2, max 24.5, under voltage events: 0, over voltage events: 0, power good: yes
Driver 0: standstill, SG min/max 0/1023
Driver 1: standstill, SG min/max 0/1023
Driver 2: standstill, SG min/max not available
Driver 3: standstill, SG min/max not available
Driver 4: standstill, SG min/max not available
Driver 5: standstill, SG min/max 0/1023
Driver 6: standstill, SG min/max 0/205
Driver 7: standstill, SG min/max not available
Driver 8: standstill, SG min/max not available
Driver 9: standstill, SG min/max not available
Date/time: 2021-02-03 16:58:31
Cache data hit count 4294967295
Slowest loop: 5.07ms; fastest: 0.07ms
I2C nak errors 0, send timeouts 0, receive timeouts 0, finishTimeouts 0, resets 0
=== Move ===
Hiccups: 6, FreeDm: 160, MinFreeDm: 152, MaxWait: 447017ms
Bed compensation in use: none, comp offset 0.000
=== DDARing ===
Scheduled moves: 67, completed moves: 67, StepErrors: 0, LaErrors: 0, Underruns: 0, 0
=== Heat ===
Bed heaters = 0 -1 -1 -1, chamberHeaters = -1 -1
Heater 1 is on, I-accum = 0.0
=== GCodes ===
Segments left: 0
Stack records: 2 allocated, 0 in use
Movement lock held by null
http is idle in state(s) 0
telnet is idle in state(s) 0
file is idle in state(s) 0
serial is idle in state(s) 0
aux is idle in state(s) 0
daemon is idle in state(s) 0
queue is idle in state(s) 0
autopause is idle in state(s) 0
Code queue is empty.
=== Network ===
Slowest loop: 26.34ms; fastest: 0.01ms
Responder states: HTTP(0) HTTP(0) HTTP(0) HTTP(0) FTP(0) Telnet(0) Telnet(0)
HTTP sessions: 1 of 8
- WiFi -
Network state is running
WiFi module is providing access point
Failed messages: pending 0, notready 0, noresp 0
WiFi firmware version 1.23
WiFi MAC address a2:20:a6:16:e6:70
WiFi Vcc 3.44, reset reason Turned on by main processor
WiFi flash size 4194304, free heap 24840
WiFi IP address 192.168.51.10
Connected clients 1
Socket states: 0 0 0 0 0 0 0 0

M98 P"config.g".
Error: Invalid kinematics matrix
Warning: Heater 1 appears to be over-powered. If left on at full power, its temperature is predicted to reach 770C.
Warning: Heater 2 appears to be over-powered. If left on at full power, its temperature is predicted to reach 904C.

Phaedrux

Before we go much farther there are two things I can see immediately that we should probably resolve.

First, Error: Invalid kinematics matrix
https://duet3d.dozuki.com/Wiki/Gcode?revisionid=HEAD#Section_M669_Set_kinematics_type_and_kinematics_parameters
Looks like you should be using K8

Second, is the firmware version. If this is a new build it makes more sense to start with the latest firmware version. 3.2. Firmware 2.05 is over a year old at this point.

If you still have access to DWC. Upload these 3 zip files, one at a time in the system tab. Don't extract them. Reboot after each. Use M115 to verify the firmware has been applied.
https://github.com/Duet3D/RepRapFirmware/releases/download/2.05.1/Duet2Firmware-2.05.1.zip
https://github.com/Duet3D/RepRapFirmware/releases/download/3.0/Duet2and3Firmware-3.0.zip
https://github.com/Duet3D/RepRapFirmware/releases/download/3.2/Duet2and3Firmware-3.2.zip
That will get your firmware and DWC up to date.

For your config, might be a good idea to run through the configurator tool and generate a fresh set for RRF3.
https://configtool.reprapfirmware.org/Start

Start with the basic config and then start adding in your UV axis changes.

pcsentinel

Ok, I'll give it a try tomorrow, as this is a completely new build, I was hoping to stay with 2.05 as applying the old adage of not changing everything at once, but I will go ahead.

Re Is it an XYUV or XYU i.e. M669 5 or 8, this seems in dispute from the forums, my machine has 4 motors driving a single Y carriage with an X and U heads. All movement is working with K5, but I could try K8.

pcsentinel

@Phaedrux

Thanks to your prompts, I searched for "invalid matrix" and found this thread: https://forum.duet3d.com/topic/20164/g30-g32-issues-on-duet-wifi-corexyu-with-inductive-probe/7?_=1612371745630

M669 K1 X1:1:0:0 Y10:1 Z0:0:1:0 U0:0:0:1 it seems to have sorted the issue. (at least for now, I have to check the Z drop and raise and home all works first) roll on tomorrow.

Phaedrux

Based on that thread it would appear it's a bug that's been fixed in 3.2