Dual Markforged Kinematics Setup

RogerPodacter

I converted a CoreXY printer to Dual Markforged IDEX based on the RatRig Vcore 3.1 prototype to IDEX. its nearly working except for the 2nd carriage U axis.

When i home X, both carriages work properly. left carriage homes to the left, then right carriage homes to the right.

but when i home the Y axis, the left carriage stays stationary properly, but the right carriage drifts rightward. the motor is not counteracting properly. I suspect its simply the Y matrix improperly configured, but i dont understand the kinematics matrix and the definitions dont seem to help much when i tried to read the documentation.

config.g

; General preferences
G90                                     ; send absolute coordinates...
M83                                     ; ...but relative extruder moves
M550 P"V-Core3"                         ; set printer name
;M669 K11 Y1:-1:0:-1                     ; Dual Markforged Kinematics  https://forum.duet3d.com/topic/7796/haq-xy/125  https://forum.duet3d.com/topic/21021/dual-markforged-kinematics?_=1672244913067
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
G21                                     ; Set Units to Millimeters

; Network
M552 S2                                 ; enable network
M586 P0 S1                              ; enable HTTP
M586 P1 S0                              ; disable FTP
M586 P2 S0                              ; disable Telnet

G4 S2 ; wait for expansion boards to start

; Drives
M569 P0.0 S0 D2								; Left Z physical drive 0.0 goes forwards
M569 P0.1 S0 D2								; Rear Z physical drive 0.1 goes forwards
M569 P0.2 S0 D2								; Right Z physical drive 0.2 goes forwards
M569 P0.3 S1 D2								; Right U toolhead drive 0.3 goes forwards
M569 P0.4 S1 D2								; Left X toolhead drive 0.4 goes forwards
M569 P0.5 S0 D2								; Left Y drive 0.5 goes forwards
M569 P0.6 S1 D2								; Right Y drive 0.6 goes reverse

M569 P121.0 S1 D2                            ; Extruder physical drive 121.0 goes forwards
;M569 P122.0 S1 D2                            ; Extruder physical drive 122.0 goes forwards
M584 Z0.0:0.1:0.2 Y0.5:0.6 X0.4 U0.3 E121.0;:122.0        ; set drive mapping
M350 U16 X16 Y16 Z16 E16 I1                 ; configure microstepping with interpolation

M92 U80.0 X80.00 Y80.00 Z800.00 E690 ;E400               ; set steps per mm
M906 U2000 X2000 Y2000 Z1800 E1000 I10 ;E700 I30              ; set motor currents (mA) and motor idle factor in per cent -- safe for Duet 3 mini 5+
M84 S30                                 ; Set idle timeout

M566 U500.00 X500.00 Y500.00 Z60.00 E300 P1 				;X1500.00 Y1500.00 Z6.00 E300 P1 ;E120.00 P1          ; set maximum instantaneous speed changes (mm/min)
M203 U30000.00 X30000.00 Y30000.00 Z1000.00 E7200 			;E3600.00     ; set maximum speeds (mm/min)
M201 U10000.00 X10000.00 Y10000.00 Z100.00 E10000 			;E3600.00        ; set accelerations (mm/s^2)

M207 S0.6 F7200 Z0.2						; firmware retraction orbiter 2.0

; Axis Limits
M208 X0 U0 Y0 Z0 S1                               ; set axis minima
M208 X310 U310 Y310 Z300 S0                         ; set axis maxima

; Endstops
M574 X1 S1 P"121.io2.in"                           ; configure active high endstops Toolhead 1 low end
M574 U2 S1 P"io3.in"                           ; configure active high endstops Toolhead 2 high end
M574 Y2 S1 P"io2.in"                           ; configure active high endstops.  IO0 and IO1 also are UART, so do not put endstops on them, use them elsewhere to free up UART.
M574 Z1 S2

M671 X-4.5:150:304.5 Y-4.52:305:-4.52 S5       ; define positions of Z leadscrews or bed levelling screws
M557 X30:280 Y20:290 P5                        ; define 5x5 mesh grid

; Heaters
M308 S0 P"temp0" Y"thermistor" T100000 B3950 A"Keenevo 600W Bed"    ; configure sensor 0 as thermistor on pin temp0
M950 H0 C"out0" T0 Q10												; Define Heater0 as the heated bed, bind to Sensor0
M140 H0 P0															; Define Heated Bed
M307 H0 R0.602 K0.401:0.000 D2.44 E1.35 S1.00 B0							; PID Tuning for Heater0, Heated Bed (100C)
M143 H0 S140														; Set temperature limit for Heater0 to 120C

M308 S1 P"121.temp0" Y"thermistor" T100000 B4725 C7.060000e-8 A"Slice Hotend"  ;Slice Engineering 300C thermistor, settings are online
M950 H1 C"121.out0" T1 Q100													; Define Heater1 as Extruder0 heater, bind to Sensor1
M307 H1 R2.808 K0.368:0.000 D4.56 E1.35 S1.00 B0 V23.8					; PID Tuning for Heater1, Extruder0 (240C)
M143 H1 S325														; Set temperature limit for heater 1 to 285C

M308 S2 P"temp1" Y"thermistor" T100000 B3950 C7.060000e-8 A"Chamber" ; configure sensor 2 as thermistor on pin temp1
M950 H2 C"out1" T2 ;Q10												; create chamber heater output on out1 and map it to sensor 2
M307 H2 R0.01 K0.200:0.000 D60 E1.35 S1.00 B1                              ; enable bang-bang mode for the chamber heater and set PWM limit
M141 H2                                      ; map chamber to heater 2
M143 H2 S120                                  ; set temperature limit for heater 2 to 60C

M308 S3 P"121.temp1" Y"thermistor" A"Cooling Block" T100000 B3950 C7.060000e-8 ; Define Sensor as Chamber temperature

M308 S4 Y"drivers" A"4028 Power"    								; 4028 power using spare heater

M308 S5 Y"mcu-temp" A"MCU"											; Define Sensor3 as the integrated MCU temperature sensor
M308 S6 Y"drivers" A"TMC Drivers"									; Define Sensor4 as the TMC overheat sensor

M308 S7 Y"mcu-temp" P"121.dummy" A"Toolboard MCU"
M308 S8 Y"drivers" P"121.dummy" A"1LC Stepper"

M308 S9 P"temp2" Y"thermistor" T100000 B3950 C7.060000e-8 A"Orbiter Motor" ; configure sensor 9 as thermistor on pin temp2

M308 S10 P"spi.cs1" Y"thermocouple-max31856" K"K" A"TC0 Chamber Heater"; define temperature sensor number 10 as a K Type thermocouple on the first port of a temperature daughter board plugged into the expansion board with CAN bus address 3.
M308 S11 P"spi.cs2" Y"thermocouple-max31856" K"K" A"TC1 Chamber Fins"; define temperature sensor number11 as a T Type thermocouple on the first port of a temperature daughter board plugged into the expansion board with CAN bus address 3.

; Fans
M950 H3 C"!out2" T2 Q10	;H2											; Define Heater2 as the 4028 fan power, bind to Sensor3
M143 H3 P2 S200														; Needed M143 to set max temp so the graph scaled correctly

M950 F0 C"!121.out1+out1.tach" Q25000 ;Q500							; create fan 0 on pin out4 and set its frequency
M106 P0 C"T0 Layer Fan" L0.0 X1.0 S0 H-1 B0.1							; set fan 0 name and value. Thermostatic control is turned off

M950 F1 C"121.out2+out2.tach" Q500 				; Fan 1 uses out3, and using out3.tach as a tacho input
M106 P1 C"T0 Hotend Fan" S0 H1 T45        ; set fan 1 name and value. Thermostatic control turned on for Hotend

M950 F2 C"out5" Q500                   ; create fan 1 on pin out5 and set its frequency
M106 P2 C"Board Fan" S0 H4:5:6 T46        ; set fan 1 name and value. Thermostatic control turned on for Hotend

M950 F3 C"!out3+out3.tach" Q500                   ; Chamber Heater Fan Noctua NF-F12 Industrial
M106 P3 C"Chamber Heater Fan" H10 T30 ; S0.3  L0.3 X0.6 B0.1 T30:40       ; set fan 1 name and value. Thermostatic control turned on for Hotend.

M950 F4 C"out6" Q500                   ; create fan 4 for Water Cooling 12V Fan 4 on pin out4 and set its frequency
M106 P4 C"Radiator Cooling Fan" S0 H3 T35        ; set fan 1 name and value. Thermostatic control turned on for liquid cooling hotend

M950 F5 C"out4+out4.tach" Q500                   ; create fan 4 for Water Cooling 12V Fan 4 on pin out4 and set its frequency
M106 P5 C"Liquid Cooling Pump" S0 H3 T20        ; set fan 1 name and value. Thermostatic control turned on for liquid cooling hotend

M950 F6 C"!122.out1+out1.tach" Q25000 ;Q500							; create fan 6 on pin out4 and set its frequency
M106 P6 C"T1 Layer Fan" L0.0 X1.0 S0 H-1 B0.1							; set fan 6 name and value. Thermostatic control is turned off

M950 F7 C"122.out2+out2.tach" Q500 				; Fan 7 uses out3, and using out3.tach as a tacho input
M106 P7 C"T1 Hotend Fan" S0 H1 T45        ; set fan 7 name and value. Thermostatic control turned on for Hotend

; Tool 0 X Axis
M563 P0 D0 H1 F0 S"Mosquito Mag Liquid"           										; define tool 0
G10 P0 X0 Y0 Z0 R0 S0            ; set tool 0 axis offsets, set initial tool 0 active 60C and standby temperatures to 0C

; Tool 1 U Axis
M563 P1 D1 H3 F6 S"Mosquito Mag Air"           										; define tool 0
G10 P1 U0 Y0 Z0 R0 S0            ; set tool 0 axis offsets, set initial tool 0 active 60C and standby temperatures to 0C

;M563 P0 H0 F0 S"Keenevo 600W Bed"
;G10 P0 X0 Y0 Z0
;G10 P0 R50 S0

; Z-Probe Inductive Probe
;M558 P5 C"121.io0.in" H5 F400 T5000       ; set Z probe type to unmodulated and the dive height + speeds
M558 P8 C"^121.io0.in" H8 F400 T9000 A1 ; S0.01       ; set Z probe type to unmodulated and the dive height + speeds
G31 P1000 X-28 Y-20 Z8.85    ; K0           ; set Z probe trigger value, offset and trigger height, more Z means closer to the bed

;; BLTouch
; M950 S0 C"io7.out"                     ; Create a servo pin on io7
; M558 P9 C"io7.in" H5 F240 T10800 A5    ; set Z probe type to unmodulated and the dive height + speeds
; G31 P25 X-28.00 Y-13.00 Z0.78          ; set Z probe trigger value, offset and trigger height, more Z means closer to the bed

;Accelerometer
M955 P121.0 I16

;Input Shaper
M593 P"zvdd" F44		; for 10k acceleration
;M593 P"mzv" F42.5		; for 15k acceleration

;Filament Sensor0
M591 D0 P3 C"121.io1.in" S1
M591 D0 L27 R10:190

;PanelDue 5i
M575 P1 S1 B57600

;NeoPixels x3
M150 X3 Q4000000 ;R128 U128 B128 P128 S2 F0
M150 X3 R255 U255 B255 W255 P255 S2 F0      ; display led

; Custom settings
G29 S1
M572 D0 S0.01; set Pressure Advance K-factor
M501
;M911 S10 R11 P"M913 X0 Y0 G91 M83 G1 Z3 E-5 F1000" ; set voltage thresholds and actions to run on power loss

; init filament sensor error global variables
if !exists(global.filamentTimestamp)
	global filamentCounter = 0
	global filamentTimestamp = state.Uptime

; init print time logging
if !exists(global.runtime)
  M98 P"runtime.g"

; init LED variables
if !exists(global.warmUp)
	global warmUp = false

; Select default tool
M404 N1.75															; Define filament diameter for print monitor
T0

homex.g

M201 X500.00 U500.00    ; Reduce acceleration for homing moves

G91                     ; Relative positioning
G1 H2 Z5 F6000          ; Lift Z relative to current position

G1 H1 X-625 F1800       ; Move quickly to X endstop and stop there (first pass)
G1 X3 F600              ; Go back a few mm
G1 H1 X-625 F360        ; Move slowly to X endstop once more (second pass)

G1 H1 U625 F1800
G1 U-3 F600
G1 H1 U625 F360

M201 X3000 U3000        ; Return to full acceleration

G1 H2 Z-5 F6000         ; Lower Z relative to current position
G90                     ; Absolute positioning

homeall.g

; Home X and Y simultaneously
G91																	; Relative positioning
G1 Z10 F6000 H2														; Lift Z relative to current position
G1 X-999 U999 F4800 H1												; coarse home X and U
G1 X5 U-5 F360														; move 5mm away from the homing switches
G1 X-10 U10 F360													; fine home X and U
G1 Y999 F4800
G1 Y-5 F360
G1 Y10 F360

;G1 X-999 Y999 F4800 H1												; Move X and Y-axes to the endstops and stop (first pass)
;G1 X-999 F4800 H1													; Move X-axis to the endstop and stop (first pass)
;G1 Y999 F4800 H1													; Move Y-axis to the endstop and stop (first pass)
;G1 X5 Y-5 F360														; Go back a few mm
;G1 X-999 F360 H1													; Move X-axis to the endstop once more (second pass)
;G1 Y999 F360 H1														; Move X-axis to the endstop once more (second pass)
G90																	; Absolute positioning

M401 ; deploy Z probe (omit if using bltouch)

; Home Z using the Z-Probe
M290 R0 S0															; Reset baby-stepping to 0
G1 X183 Y170 F6000											; Move T0 to probing point (X150, Y150), including probe offset
G30																	; Probe the bed and set Z to the probe offset

M402 ; retract probe (omit if using bltouch)

homey.g

M201 X500.00 Y500.00    ; Reduce acceleration for homing moves

G91                     ; Relative positioning
G1 H2 Z5 F6000          ; Lift Z relative to current position

G1 H1 Y605 F1800        ; Move quickly to Y endstop and stop there (first pass)
G1 Y-3 F600             ; Go back a few mm
G1 H1 Y605 F360         ; Move slowly to Y endstop once more (second pass)

M201 X3000 Y3000        ; Return to full acceleration

G1 H2 Z-5 F6000         ; Lower Z relative to current position
G90                     ; Absolute positioning

RogerPodacter

@RogerPodacter said in Dual Markforged Kinematics Setup:

M669 K1 X1:0:0:0 Y10:1 Z0:0:1:0 U0:0:0:1; Matrix mapping for Axis - X:Y:Z:U

i solved my issue. maybe this helps someone in the future. i simply changed the Y matrix:

old

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

new

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