G29 on CoreXY does not move correctly
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Can you post your config.g? It sounds like you aren't in corexy mode, or maybe like a grub screw is loose on a motor pulley.
It's also possible your coordinate system is totally out of whack.
The assumption is that 0,0 is the front left corner.
-x moves to the left, +x moves to the right.
-y moves to the front, +y moves to the back.Based on your homex.g file the X endstop is on the left side, correct?
Is the Y endstop at the back? Stock D bot it is anyway. Which would be a positive Y move.
You should also do this motor test for corexy to ensure it's all configured correctly.
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@phaedrux Yes, until this point with G29 everything moved correctly. X endstop is on the left. Y endstop is at the back (Y max). Everything moves in the right directions, homes in the right directions. I have calibrated e-steps for all three axes and the extruder. I have manually leveled the bed. I have set the z probe offset. I PID tuned the bed and hot end. I was all ready to do my first test prints, but when I ran G29 I had odd behavior where it was probing back and forth on a diagonal, although the Panel Due said it was moving only on the X axis, which seems like not-corexy movement. The Y motor was not turning at all, although it moved fine during the homing and when manually jogging.
I didn't have a mesh.g, so I created that, but now the movement is all off. Here's my config.g - maybe I screwed something up on it?
; Configuration file for Duet 3 (firmware version 3.3) ; executed by the firmware on start-up ; ; generated by RepRapFirmware Configuration Tool v3.3.10 on Tue May 10 2022 23:58:03 GMT-0500 (Central Daylight Time) ; General preferences M575 P1 S1 B57600 ; enable support for PanelDue G90 ; send absolute coordinates... M83 ; ...but relative extruder moves M550 P"Duet 3" ; set printer name M669 K1 ; select CoreXY mode ; Drives M569 P0.2 S0 ; physical drive 0.0 goes forwards M569 P0.1 S0 ; physical drive 0.1 goes forwards M569 P0.0 S0 ; physical drive 0.2 goes forwards M569 P0.3 S0 ; physical drive 0.3 goes forwards M584 X0.2 Y0.1 Z0.0 E0.3 ; set drive mapping M350 X16 Y16 Z16 E16 I1 ; configure microstepping with interpolation M92 X101.00 Y101.00 Z800.00 E438.57 ; set steps per mm M566 X900.00 Y900.00 Z60.00 E120.00 ; set maximum instantaneous speed changes (mm/min) M203 X6000.00 Y6000.00 Z1000.00 E1200.00 ; set maximum speeds (mm/min) M201 X500.00 Y500.00 Z20.00 E250.00 ; set accelerations (mm/s^2) M906 X800 Y800 Z800 E800 I30 ; set motor currents (mA) and motor idle factor in per cent M84 S30 ; Set idle timeout ; Axis Limits M208 X0 Y0 Z0 S1 ; set axis minima M208 X320 Y275 Z300 S0 ; set axis maxima ; Endstops M574 X1 S1 P"!io1.in" ; configure switch-type (e.g. microswitch) endstop for low end on X via pin io1.in M574 Y2 S1 P"!io3.in" ; configure switch-type (e.g. microswitch) endstop for high end on Y via pin io3.in ; Z-Probe M950 S0 C"io4.out" ; create servo pin 0 for BLTouch M558 P9 C"io4.in" H5 F1000:100 T6000 ; set Z probe type to bltouch and the dive height + speeds G31 P500 X37 Y-27 Z2.22 ; set Z probe trigger value, offset and trigger height M557 X20:310 Y40:270 S20 ; define mesh grid ; Heaters M308 S0 P"temp1" Y"thermistor" T100000 B4138 A"BedTemp" ; configure sensor 0 as thermistor on pin temp1 M950 H0 C"out1" T0 ; create bed heater output on out1 and map it to sensor 0 M307 H0 R0.169 K0.225:0.000 D42.84 E1.35 S1.00 B0 ; enable 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"temp0" Y"thermistor" T100000 B4138 A"NozzleTemp" ; configure sensor 1 as thermistor on pin temp0 M950 H1 C"out2" T1 ; create nozzle heater output on out2 and map it to sensor 1 M307 H1 R2.962 K0.603:0.000 D5.12 E1.35 S1.00 B0 V23.2; disable bang-bang mode for heater and set PWM limit M143 H1 S280 ; set temperature limit for heater 1 to 280C ; Fans M950 F0 C"out9" 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"out8" Q500 ; create fan 1 on pin out9 and set its frequency M106 P1 S1 H1 T50 ; set fan 1 value. Thermostatic control is turned on ; Tools M563 P0 S"Mosquito Magnum" 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 ; Custom settings are not defined -
Okay, I can home Y if I home it first. Movement is correct. I can then home X, and it homes correctly. After that, the kinematics are all wrong - the Y motor doesn't turn at all, so all movements end up on a diagonal. If I home X first, then the kinematics are wrong, and I can't home Y.
Just to reiterate - prior to this, all movement was correct. I jogged the head all over the place while leveling the bed. It's only been since I created the mesh.g file and attempted a G29. Not saying that's what caused the problem - it's just the last change I made.
I have to go out of town for a day or two - I'll be back to work on this tomorrow night or the next.
Thanks for any help!
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@techbutterfly said in G29 on CoreXY does not move correctly:
Okay, I can home Y if I home it first. Movement is correct. I can then home X, and it homes correctly. After that, the kinematics are all wrong - the Y motor doesn't turn at all, so all movements end up on a diagonal. If I home X first, then the kinematics are wrong, and I can't home Y.
Just to reiterate - prior to this, all movement was correct. I jogged the head all over the place while leveling the bed. It's only been since I created the mesh.g file and attempted a G29. Not saying that's what caused the problem - it's just the last change I made.
I have to go out of town for a day or two - I'll be back to work on this tomorrow night or the next.
Thanks for any help!
Nothing in your mesh.g is responsible for the change in behavior you are seeing.
It may be that your kinematics are simply wrong and what appears to be correct homing is caused by one of the steppers stalled at the end of travel so things appear to be correct.
When you get back we can verify if you kinematics are correct. While you have the M669 K1 that assumes certain stepper behavior. I use the other approach of specifying the matrix which controls motion which can adjust for motors that are not wired as expected.
Frederick
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@fcwilt Thanks! I look forward to working with you when I get back. I saw the stuff about defining a matrix but didn't understand it. Hope to learn something new when I'm back home again.
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Please post all your homing files. bed.g and the results of sending M122 and M98 P"config.g"
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@phaedrux Here are the homing files, bed.g, and the M122 and M98 results.
; homeall.g ; called to home all axes ; ; generated by RepRapFirmware Configuration Tool v3.3.10 on Tue May 10 2022 23:58:03 GMT-0500 (Central Daylight Time) G91 ; relative positioning G1 H2 Z5 F6000 ; lift Z relative to current position G1 H1 X-325 Y280 F2500 ; move quickly to X or Y endstop and stop there (first pass) G1 H1 X-325 ; home X axis G1 H1 Y280 ; home Y axis G1 X5 Y-5 F6000 ; go back a few mm G1 H1 X-325 F360 ; move slowly to X axis endstop once more (second pass) G1 H1 Y280 ; then move slowly to Y axis endstop G1 X30 F2500 ; move to left edge of bed (X30) M92 X0 ; set new X0 G90 ; back to absolute mode G1 X150 Y150 F2000 ; put head over the centre of the bed, or wherever you want to probe G30 ; lower head, stop when probe triggered and set Z to trigger height ; Uncomment the following lines to lift Z after probing ;G91 ; relative positioning ;G1 Z5 F100 ; lift Z relative to current position ;G90 ; absolute positioning; homex.g ; called to home the X axis ; ; generated by RepRapFirmware Configuration Tool v3.3.10 on Tue May 10 2022 23:58:03 GMT-0500 (Central Daylight Time) G91 ; relative positioning G1 H2 Z5 F6000 ; lift Z relative to current position G1 H1 X-325 F2500 ; move quickly to X axis endstop and stop there (first pass) G1 X5 F6000 ; go back a few mm G1 H1 X-325 F360 ; move slowly to X axis endstop once more (second pass) G1 X30 F2500 ; move to left edge of bed M92 X0 ; set new X0 G1 H2 Z-5 F6000 ; lower Z again G90 ; absolute positioning; homey.g ; called to home the Y axis ; ; generated by RepRapFirmware Configuration Tool v3.3.10 on Tue May 10 2022 23:58:04 GMT-0500 (Central Daylight Time) G91 ; relative positioning G1 H2 Z5 F6000 ; lift Z relative to current position G1 H1 Y280 F1800 ; move quickly to Y axis endstop and stop there (first pass) G1 Y-5 F6000 ; go back a few mm G1 H1 Y280 F360 ; move slowly to Y axis endstop once more (second pass) G1 H2 Z-5 F6000 ; lower Z again G90 ; absolute positioning; homez.g ; called to home the Z axis ; G91 ; relative mode G1 H2 Z4 F200 ; raise head 4mm to ensure it is above the Z probe trigger height G90 ; back to absolute mode G1 X150 Y150 F2000 ; put head over the centre of the bed, or wherever you want to probe G30 ; lower head, stop when probe triggered and set Z to trigger height ; Uncomment the following lines to lift Z after probing ;G91 ; relative positioning ;G1 Z5 F100 ; lift Z relative to current position ;G90 ; absolute positioning; bed.g ; called to perform automatic bed compensation via G32 ; ; generated by RepRapFirmware Configuration Tool v3.3.10 on Tue May 10 2022 23:58:03 GMT-0500 (Central Daylight Time) M561 ; clear any bed transform G29 ; probe the bed and enable compensation;mesh.g file ;mesh.g file ;set temps M568 P0 S60 R60 ;set bed temp M568 P1 S200 R160 ;set extruder temps M568 P0 A2 ;set bed temp to active M568 P1 A2 ;set extruder to active M116 H0 S5 ;wait for bed to reach temp +-5 M116 H1 S10 ;wait for extruder to reach temp +-10 ;prep G29 S2 ;turn off mesh bed compensation M290 R0 S0 ;reset baby stepping M208 X-30 Y0 Z0 S1 ; temporarily allow movement outside X0 M557 X20:310 Y40:270 S20 ; define mesh grid ;get Z=0 datum G1 X150 Y150 F2500 ;move to center of bed G30 ;set Z=0 datum ;mesh leveling G29 S1 ;basic G29 ;finish G1 X0 F2500 ; move back to X0 M208 X0 Y0 Z0 S1 ;reset bed minima M568 P0 A0 ;turn off bed M568 P1 A0 ;turn off extruderM122:
m122 === Diagnostics === RepRapFirmware for Duet 3 MB6HC version 3.4.0 (2022-03-15 18:57:24) running on Duet 3 MB6HC v1.01 or later (SBC mode) Board ID: 08DJM-956BA-NA3TN-6J9F6-3SN6N-TB8UU Used output buffers: 1 of 40 (12 max) === RTOS === Static ram: 151000 Dynamic ram: 65764 of which 388 recycled Never used RAM 133520, free system stack 216 words Tasks: SBC(resourceWait:,0.7%,478) HEAT(notifyWait,0.0%,327) Move(notifyWait,0.0%,352) CanReceiv(notifyWait,0.0%,944) CanSender(notifyWait,0.0%,374) CanClock(delaying,0.0%,342) TMC(notifyWait,7.7%,92) MAIN(running,87.2%,923) IDLE(ready,4.4%,30), total 100.0% Owned mutexes: HTTP(MAIN) === Platform === Last reset 00:00:27 ago, cause: software Last software reset at 2022-05-17 15:58, reason: User, none spinning, available RAM 133520, slot 1 Software reset code 0x0012 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x00400000 BFAR 0x00000000 SP 0x00000000 Task SBC Freestk 0 n/a Error status: 0x00 Aux0 errors 0,0,0 Step timer max interval 134 MCU temperature: min 36.2, current 36.5, max 36.8 Supply voltage: min 23.9, current 23.9, max 23.9, under voltage events: 0, over voltage events: 0, power good: yes 12V rail voltage: min 12.0, current 12.0, max 12.0, under voltage events: 0 Heap OK, handles allocated/used 0/0, heap memory allocated/used/recyclable 0/0/0, gc cycles 0 Events: 0 queued, 0 completed Driver 0: standstill, SG min 0, mspos 8, reads 22043, writes 14 timeouts 0 Driver 1: standstill, SG min 0, mspos 8, reads 22043, writes 14 timeouts 0 Driver 2: standstill, SG min 0, mspos 8, reads 22043, writes 14 timeouts 0 Driver 3: standstill, SG min 0, mspos 8, reads 22043, writes 14 timeouts 0 Driver 4: standstill, SG min 0, mspos 8, reads 22047, writes 11 timeouts 0 Driver 5: standstill, SG min 0, mspos 8, reads 22047, writes 11 timeouts 0 Date/time: 2022-05-17 15:58:53 Slowest loop: 1.10ms; fastest: 0.06ms === Storage === Free file entries: 10 SD card 0 not detected, interface speed: 37.5MBytes/sec SD card longest read time 0.0ms, write time 0.0ms, max retries 0 === Move === DMs created 125, segments created 0, maxWait 0ms, bed compensation in use: none, comp offset 0.000 === MainDDARing === Scheduled moves 0, completed 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1 === AuxDDARing === Scheduled moves 0, completed 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1 === Heat === Bed heaters 0 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1, chamber heaters -1 -1 -1 -1, ordering errs 0 === GCodes === Segments left: 0 Movement lock held by null HTTP* is doing "M122" in state(s) 0 Telnet 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 LCD is idle in state(s) 0 SBC is idle in state(s) 0 Daemon is idle in state(s) 0 Aux2 is idle in state(s) 0 Autopause is idle in state(s) 0 Code queue is empty === CAN === Messages queued 202, received 0, lost 0, boc 0 Longest wait 0ms for reply type 0, peak Tx sync delay 0, free buffers 50 (min 50), ts 138/0/0 Tx timeouts 0,0,137,0,0,63 last cancelled message type 30 dest 127 === SBC interface === Transfer state: 4, failed transfers: 0, checksum errors: 0 RX/TX seq numbers: 2630/2630 SPI underruns 0, overruns 0 State: 5, disconnects: 0, timeouts: 0, IAP RAM available 0x2b880 Buffer RX/TX: 0/0-0, open files: 0 === Duet Control Server === Duet Control Server v3.4.0 Code buffer space: 4096 Configured SPI speed: 8000000Hz, TfrRdy pin glitches: 0 Full transfers per second: 124.75, max time between full transfers: 166.9ms, max pin wait times: 68.4ms/72.5ms Codes per second: 2.08 Maximum length of RX/TX data transfers: 3148/420M98 P"config.g" - I ran this in the console, but there was not response other than the command itself with a green background. Here's config.g:
; Configuration file for Duet 3 (firmware version 3.3) ; executed by the firmware on start-up ; ; generated by RepRapFirmware Configuration Tool v3.3.10 on Tue May 10 2022 23:58:03 GMT-0500 (Central Daylight Time) ; General preferences M575 P1 S1 B57600 ; enable support for PanelDue G90 ; send absolute coordinates... M83 ; ...but relative extruder moves M550 P"Duet 3" ; set printer name M669 K1 ; select CoreXY mode ; Drives M569 P0.2 S0 ; physical drive 0.0 goes forwards M569 P0.1 S0 ; physical drive 0.1 goes forwards M569 P0.0 S0 ; physical drive 0.2 goes forwards M569 P0.3 S0 ; physical drive 0.3 goes forwards M584 X0.2 Y0.1 Z0.0 E0.3 ; set drive mapping M350 X16 Y16 Z16 E16 I1 ; configure microstepping with interpolation M92 X101.00 Y101.00 Z800.00 E438.57 ; set steps per mm M566 X900.00 Y900.00 Z60.00 E120.00 ; set maximum instantaneous speed changes (mm/min) M203 X6000.00 Y6000.00 Z1000.00 E1200.00 ; set maximum speeds (mm/min) M201 X500.00 Y500.00 Z20.00 E250.00 ; set accelerations (mm/s^2) M906 X800 Y800 Z800 E800 I30 ; set motor currents (mA) and motor idle factor in per cent M84 S30 ; Set idle timeout ; Axis Limits M208 X0 Y0 Z0 S1 ; set axis minima M208 X320 Y275 Z300 S0 ; set axis maxima ; Endstops M574 X1 S1 P"!io1.in" ; configure switch-type (e.g. microswitch) endstop for low end on X via pin io1.in M574 Y2 S1 P"!io3.in" ; configure switch-type (e.g. microswitch) endstop for high end on Y via pin io3.in ; Z-Probe M950 S0 C"io4.out" ; create servo pin 0 for BLTouch M558 P9 C"io4.in" H5 F1000:100 T6000 ; set Z probe type to bltouch and the dive height + speeds G31 P500 X37 Y-27 Z2.22 ; set Z probe trigger value, offset and trigger height M557 X20:310 Y40:270 S20 ; define mesh grid ; Heaters M308 S0 P"temp1" Y"thermistor" T100000 B4138 A"BedTemp" ; configure sensor 0 as thermistor on pin temp1 M950 H0 C"out1" T0 ; create bed heater output on out1 and map it to sensor 0 M307 H0 R0.169 K0.225:0.000 D42.84 E1.35 S1.00 B0 ; enable 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"temp0" Y"thermistor" T100000 B4138 A"NozzleTemp" ; configure sensor 1 as thermistor on pin temp0 M950 H1 C"out2" T1 ; create nozzle heater output on out2 and map it to sensor 1 M307 H1 R2.962 K0.603:0.000 D5.12 E1.35 S1.00 B0 V23.2; disable bang-bang mode for heater and set PWM limit M143 H1 S280 ; set temperature limit for heater 1 to 280C ; Fans M950 F0 C"out9" 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"out8" Q500 ; create fan 1 on pin out9 and set its frequency M106 P1 S1 H1 T50 ; set fan 1 value. Thermostatic control is turned on ; Tools M563 P0 S"Mosquito Magnum" 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 ; Custom settings are not defined -
Just FYI.
G32 executes bed.g - which is intended to do bed leveling, not create the heightmap needed for mesh bed compensation.
What you have done will, of course, work but it is using bed.g in a somewhat unusual way.
Now as to you Core XY settings.
I would like you to do this from the DWC console:
- execute M564 H0 which will allow moving axes that are not yet homed
- jog X to the near the center of the bed
- jog Y to the near the center of the bed
- execute G92 X160 Y135 which will set the X and Y logical positions to appx halfway between axis min and max
- execute G90 which will set absolute move mode
- execute G1 X210 Y185 just to test a move command
- execute G1 X110 Y85 just to test another move command
Does the jogging move as expected?
Do the G1 commands move as expected?
Frederick
Printers: a E3D MS/TC setup and a RatRig Hybrid. Using Duet 3 hardware running 3.4.6
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Can you make a video of you homing the printer and running a mesh compnesation?
G28 G29
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@fcwilt I ran the commands you said - everything moved as expected, both jogging and using G1 commands. X+ was to the right. Y+ was toward the back.
What should I do next?
As far as G32, bed.g, and G29, whatever I have is either the default or perhaps came along with something I copied from somewhere. Please feel free to tell me a more acceptable way to accomplish things like bed leveling or mesh compensation. There's definitely plenty I don't know.
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Your homing files and config and mesh.g look alright to me. I don't see anything that would cause weird movement behaviour anyway.
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@phaedrux To verify what I posted before, after doing the tests @fcwilt requested, I homed Y and tested the movement - everything was still fine. I then homed X and once again, the movement is now wrong. The Y motor no longer turns - it is locked in place, so it's not just dead, the controller thinks it's not supposed to turn. I don't know what to do next.
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@techbutterfly said in G29 on CoreXY does not move correctly:
I ran the commands you said - everything moved as expected, both jogging and using G1 commands. X+ was to the right. Y+ was toward the back.
Just to be sure, did both of the G1 commands move on the diagonal and ended up at the correct XY position?
I know this is a pain but maybe if you made a video showing what happened during the tests I suggested we would see something that would give us a clue.
Right now I am somewhat baffled.
Thanks.
Frederick
Printers: a E3D MS/TC setup and a RatRig Hybrid. Using Duet 3 hardware running 3.4.6
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One other thing - could you edit the homey.g file to add a G1 move?
G90 ; existing G90 at end of file G1 Y135 ; move to middle of Y axisI would like to be sure that the Y axis can still move correctly after homing.
Frederick
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@fcwilt Yes when I ran the G1 commands, the head moved diagonally to the assigned positions. I ran them back and forth a couple of times. I also ran just the X110 to X210 part by itself several times and observed the head going left and right between those spots, and the Y85 to Y185 part by itself and watched the head go forward and back between those spots.
Then I homed Y and jogged the head around a bit. And then I homed X and now the Y motor doesn't turn, just the X motor, regardless of the direction requested, so the head moves diagonally. The panel due says the motor is moving as requested, but the head is not moving that way.
Let me see if I can put together a video.
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@techbutterfly said in G29 on CoreXY does not move correctly:
@fcwilt Yes when I ran the G1 commands, the head moved diagonally to the assigned positions. I ran them back and forth a couple of times. I also ran just the X110 to X210 part by itself several times and observed the head going left and right between those spots, and the Y85 to Y185 part by itself and watched the head go forward and back between those spots.
Then I homed Y and jogged the head around a bit. And then I homed X and now the Y motor doesn't turn, just the X motor, regardless of the direction requested, so the head moves diagonally. The panel due says the motor is moving as requested, but the head is not moving that way.
Let me see if I can put together a video.
That is just so strange.
I've look at the homex.g file and I don't see anything that would cause the behavior you are seeing.
We must be overlooking something.
Hang in there. We will get it sorted. I've built 9 different printers over time and I got them all to work despite the odd problem know and then.
Frederick
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@fcwilt Thanks - I appreciate your taking the time. I'm going to see if I can make a video.
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@phaedrux I just saw this request - I will try this when I make the video. I know it will end in a crash, because the movement will be screwed up, but I'll give it a try at the end.
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I think I see the problem.
In the homex.g file you have a M92 X0 instead of G92 X0.
I hope my example didn't have that mistake. That would be very embarrassing. Very.
Frederick
Printers: a E3D MS/TC setup and a RatRig Hybrid. Using Duet 3 hardware running 3.4.6
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@fcwilt Oh I'm sure it was my mistake. Let me fix that and try again...
