IDEX/Z - Tool change (Separate print and mill heads)
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Hi all. I'm new to the forum so please forgive me if some of my questions have been answered or if I am going about posting wrong.
Machine summary: Currently utilizing a duet 3 to control a cartesian style build with 2 independent X carriages that have independent Z axis. One Carriage houses a router/mill and the other has a printing head. Planning to use the mill to clean up prints.
Please see my config and tool change macros for additional information.
config.g homeall.g tfree0.g tfree1.g tpre0.g tpre1.g
My problem lies with switching between tools and homing macros. As of now I am capable of using the mill head and print head independently with XYZ inputs (I switch drive mapping with tool change macros while ensuring the locations are preserved by performing a "park" cycle, and using G92 to write the known locations when switching from tool to tool).
My main problems at this point are when I switch to T1 (mill) and perform a homeall, the system hangs up on the tool change (I have switch to T0 as my first command so that the correct steppers and end stops are being controlled). I tried implementing M116 in the thoughts that the switch between tools wasn't happening fast enough...
My next issue is that since T0 is a print head, I would like the system to be in FFF print mode when in use; however, when in print mode my homeall function falls apart and the T0 Z axis plunges into the table rather than the lift until end stop is hit (like it does in CNC mode).
I am going about it this way as I intend on using Fusion 360 to post the code, however it only lets me utilize XYZ axis (hence the need for remaps when switching between mill and print)
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@parrs
This might make it a bit easier to read, just imbedded your codeconfig.g
; Configuration file for Duet 3 (firmware version 3) ; executed by the firmware on start-up ; ; generated by RepRapFirmware Configuration Tool v3.1.4 on Thu Sep 10 2020 12:31:28 GMT-0600 (Mountain Daylight Time) ; General preferences G90 ; send absolute coordinates... M83 ; ...but relative extruder moves M550 P"Duet3" ; sets printer name M453 ; sets CNC mode ; Drives M569 P0.0 S0 ; physical drive 0.0 goes reverse M569 P0.1 S1 ; physical drive 0.1 goes forwards M569 P0.2 S1 ; physical drive 0.2 goes forwards M569 P0.3 S0 ; physical drive 0.3 goes reverse M569 P0.4 S0 ; physical drive 0.4 goes reverse M569 P0.5 S1 ; physical drive 0.5 goes forwards M569 P1.0 S1 ; physical drive 1.0 goes forwards M569 P1.1 S1 ; physical drive 1.1 goes forwards M569 P1.2 S1 ; physical drive 1.2 goes forwards M569 P2.1 S1 ; physical drive 2.1 goes forwards M569 P2.2 S0 ; physical drive 2.2 goes forwards M584 X0.0 Y0.1:0.2 Z0.4 U0.3 V0.5 B2.2 E1.0 ; set drive mapping M350 X32 Y32 Z64 U32 V64 B32 E16 I1 ; configure microstepping with interpolation M92 X800.00 Y795.9565 Z1592.718 U800.0 V1592.718 B70 E1000 ; set steps per mm M566 X800.00 Y800.00 Z800.00 U800.00 V800.00 B1000.00 E8000.00 ; set maximum instantaneous speed changes (mm/min) M203 X3000.00 Y3000.00 Z3000.00 U3000 V3000 B30000.00 E10000.00 ; set maximum speeds (mm/min) M201 X200.00 Y200.00 Z200.00 U200.00 V200.00 B500.0 E250.00 ; set accelerations (mm/s^2) M906 X2000 Y2000 Z2000 U2000 V2000 B2000 E1800 I100 ; set motor currents (mA) and motor idle factor in per cent M84 S30 ; Set idle timeout ; Axis Limits M208 X85 Y0 Z0 U0 V0 B-500000 S1 ; set axis minima M208 X677 Y810 Z187.6 U615 V200 B500000 S0 ; set axis maxima. z default with 5/8 spoil board 190. ; Endstops M574 X2 S1 P"!io0.in" ; configure active-high endstop for low end on X via pin io0.in M574 Y1 S1 P"!io1.in+!io2.in" ; configure active-high endstop for low end on Y via pin io1.in M574 Z2 S1 P"!io4.in" ; configure active-high endstop for high end on Z via pin io2.in M574 U1 S1 P"!io3.in" ; configure active-high endstop for high end on U via pin io2.in M574 V2 S1 P"!io5.in" ; configure active-high endstop for high end on V via pin io2.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"pt1000" R2200 ; configure sensor 0 as PT1000 on pin temp0 //M950 H0 C"out0" T0 ; create bed heater output on out0 and map it to sensor 0 //M307 H0 B0 S1.00 ; disable bang-bang mode for the bed heater and set PWM limit //M140 H0 ; map heated bed to heater 0 //M143 H0 S120 ; set temperature limit for heater 0 to 120C //M308 S1 P"1.temp2" Y"thermistor" T100000 B4138 ; configure sensor 1 as thermistor on pin 1.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 ; Fans //M950 F0 C"!out4" Q500 ; create fan 0 on pin !out4 and set its frequency //M106 P0 S0 H-1 ; set fan 0 value. Thermostatic control is turned off //M950 F1 C"!out3" Q500 ; create fan 1 on pin !out3 and set its frequency //M106 P1 S1 H-1 ; set fan 1 value. Thermostatic control is turned off ; Tools M563 P0 S"Extruder" 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 M563 P1 S"Mill" F0 ;X3 ; define tool 1 (U axis mapped to X axis) G10 P1 X0 Y0 Z0 ; set tool 1 axis offsets G10 P1 R0 S0 ; set initial tool 1 active and standby temperatures to 0C ;Spindle M453 S0 C"out9" R12000 T1 F100 ; creates spindle S0 sets PWM out to pin 9 ;Original code above ;//M563 P1 S"Mill" D1 F0 ; define tool 1 ;//G10 P1 X0 Y0 Z0 ; set tool 1 axis offsets ;//G10 P1 R0 S0 ; Custom settings are not defined ; Miscellaneous M501 ; load saved parameters from non-volatile memoryhomeall.g
; homeall.g ; called to home all axes ; ; generated by RepRapFirmware Configuration Tool v3.1.4 on Thu Sep 10 2020 12:31:28 GMT-0600 (Mountain Daylight Time) T0 M116 G91 ; relative positioning G1 H1 Z200 F1200 ; move Z up stopping at the endstop G1 H1 V200 F1200 ; move V up stopping at the endstop G1 H2 Z-10 V-10 F6000 ; go back a few mm G92 Z187.6 V195 ; set Z and V position to axis minimum (you may want to adjust this) G1 H2 Z5 V5 F6000 ; lift Z and V relative to current position G1 H1 X+705 Y-816 U-705 F1800 ; move quickly to X and Y axis endstops and stop there (first pass) G1 H2 X-5 Y5 U5 F6000 ; go back a few mm G1 H1 X+705 Y-816 U-705 F360 ; move slowly to X and Y axis endstops once more (second pass) G90 ; absolute positioning G92 B0 ; Set position - B axis (rotary) to 0 ;T0 ; Uncomment the following lines to lift Z after probing ;G91 ; relative positioning ;G1 Z5 F100 ; lift Z relative to current position ;G90 ; absolute positioningtfree0.g
; Operations to be done before switching from T0 to T1 (EXTRUDER TO MILL) ;TOOL ZERO MOVEMENTS (EXTRUDER) G90 ;ABSOLUTE COORDINATES G1 Z185 ;LIFT Z TO PARK LOCATION G1 X675 ;MOVE X TO PARK LOCATION (FAR RIGHT OF MACHINE)tfree1.g
;Operations to be done before switching from T1 to T0 ;DO THESE NEED TO BE X AND Z VALUES OR U AND V?????????????????? G90 ;ABSOLUTE MOVEMENTS G1 Z185 ;LIFT T1 G1 X0 ;MOVE T1 TO PARK POSITION (LEFT SIDE OF MACHINE) ;THESE VALUES NEED TO MATCH TPRE1.G PARK VALUES AS THE MACHINE OVERWRITES TOOL LOCATION WHEN SWITCHING. NEEDS TO KNOW WHERE IT IStpre0.g
;Operations/configurations to be set when T0 selected - NOTE THIS OVERRIDES THE CONFIG.G PARAMETERS AFTER SWITCHING TOOLS ;NOTE: ENDSTOPS HAVE NOT BEEN RECONFIGURED FROM CONFIG.G - MAY NEED TO BE ;M451 ;SET TO FFF PRINT MODE M584 X0.0 Z0.4 U0.3 V0.5 ;SET DRIVE MAPPING (EXT NOW CONTROLLED BY X AND Z COMMANDS) - REMAP T1 TO U&V M350 X32 Z64 ;SET MICROSTEPPING M92 X800 Z1592.718 ;SET STEPS/MM (VALUE NEEDED FOR MILL Z AXIS - REMEMBER MILL AND EXTRUDER MAY BE DIFFERENT) **UPDATE** M566 X800 Z800 ;SET INSTANTANEOUS SPEED CHANGES (MM/MIN) M203 X3000 Z3000 ;SET MAXIMUM SPEEDS (MM/MIN) M201 X200 Z200 ;SET ACCELERATION (MM/S^2) M208 X85 S1 ;SETS AXIS MINIMUM (MAKE IT SO IT WONT COLLIDE WITH MILL) S1 DENOTES MIN WHERE S0 OR BLANK DENOTES MAX M208 X677 G92 X675 Z185 ;SET POSITION - SET TO MATCH PARK VALUES (TFREE0.G) SO SOFTWARE KNOWS WHERE TOOL IS AFTER SWITCHINGtpre1.g
;Operations/configurations to be set when T1 selected - NOTE THIS OVERRIDES THE CONFIG.G PARAMETERS AFTER SWITCHING TOOLS ;NOTE: ENDSTOPS HAVE NOT BEEN RECONFIGURED FROM CONFIG.G - MAY NEED TO BE M453 ;SET TO CNC MODE M584 X0.3 Z0.5 ;SET DRIVE MAPPING (MILL NOW CONTROLLED BY X AND Z COMMANDS) M350 X32 Z64 ;SET MICROSTEPPING M92 X800 Z1592.718 ;SET STEPS/MM (VALUE NEEDED FOR MILL Z AXIS - REMEMBER MILL AND EXTRUDER MAY BE DIFFERENT) M566 X800 Z800 ;SET INSTANTANEOUS SPEED CHANGES (MM/MIN) M203 X3000 Z3000 ;SET MAXIMUM SPEEDS (MM/MIN) M201 X200 Z200 ;SET ACCELERATION (MM/S^2) M208 X0 S1 ;SETS AXIS MINIMUM (S1 DENOTES MINIMUM WHERE S0 OR BLANK DENOTES MAX) M208 X615 ;SETS AXIS MAXIMUM (ENSURE CLEARANCE IS MAINTAINED IN RESPECT TO T0 IN PARK LOCATION) G92 X0 Z185 ;SET POSITION - SET TO MATCH PARK VALUES (TFREE1.G) SO SOFTWARE KNOWS WHERE TOOL IS AFTER SWITCHING
