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    Recognise obstacle and store position?

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    • Saschkaundefined
      Saschka
      last edited by

      Hi!

      Is there a way to use the sensorless homing option of my Duet 3 Mini 5+ to recognise an obstacle and store its z-position?

      I'm using the board for a pick and place application, where I pick up items out of a shelf. My shelf is fixed to some aluminium profils like in the pictures below. With all the tolerances in the build, it's difficult to define the exact z-distance my pick-up unit will have to travel to reach the first shelf.

      My idea was to let the pick-up unit travel in the general position and move down until it touches the top shelf. Like with sensorless homing, the driver should notice the resistance. Then I would like to store the absolute position of the z-axis (and not set the position as new axis 0) as reference for the following pick-and-place movements.

      Is there a way to implement the described process?

      I'm using a Duet 3 Mini 5+ with the latest RepRap Firmware (3.4.5).

      bb82c882-0e12-44a0-a7bb-fa3df856783e-image.png
      f3628132-7ba6-43fd-a806-dac044950e15-image.png

      Any suggestions would be appreciated! 🙂

      jay_s_ukundefined 1 Reply Last reply Reply Quote 0
      • jay_s_ukundefined
        jay_s_uk @Saschka
        last edited by

        @Saschka why not use a probe and use something like a G30 S-1 move?

        Owns various duet boards and is the main wiki maintainer for the Teamgloomy LPC/STM32 port of RRF. Assume I'm running whatever the latest beta/stable build is

        Saschkaundefined 1 Reply Last reply Reply Quote 0
        • Saschkaundefined
          Saschka @jay_s_uk
          last edited by

          @jay_s_uk The whole setup will be inside of an incubator, with a very small hole for cables. I simply don't have the space to pull through another cable.

          jay_s_ukundefined 1 Reply Last reply Reply Quote 0
          • jay_s_ukundefined
            jay_s_uk @Saschka
            last edited by

            @Saschka you may be able to use a G1 H4 move in that case. Just make sure you setup the correct sensorless parameters

            Owns various duet boards and is the main wiki maintainer for the Teamgloomy LPC/STM32 port of RRF. Assume I'm running whatever the latest beta/stable build is

            1 Reply Last reply Reply Quote 1
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