Tower clash in bed calibration - firmware update - fisher delta

racitup

Hi,
I have just upgraded my duet 0.6 firmware from 1.23 to 1.26.1
Before the upgrade mesh bed compensation worked fine, I set the grid to 65 mm radius and 20 mm spacing either in the web UI or config.g or the end of bed.g:

M557 R65 S20

Then run

G29 S0

Now the first thing the head does is slowly move over to the Z tower until it hits it!

Also it looks like auto calibration has broken, G32. I guess I need to adjust my bed.g?

Any idea how I fix that please?

racitup

@racitup The plot thickens.

I tried running the web config tool and not only does it fail with an error, it also lists the firmware version as 1.21. Maybe version 1.26.1 is not compatible?

racitup

@racitup I have managed to get a new set of configs from the tool, but I'm still seeing the same problem. It appears to be a bug.

When I run G32, the head slowly vectors to the Z tower. The Z tower drive barely moves. Here's my bed.g. I just re-ordered the points to be in XYZ order.

The reason I think this is a bug is that manually moving the head with the buttons works fine.

; bed.g
; called to perform automatic delta calibration via G32
;
; generated by RepRapFirmware Configuration Tool v3.4.0 on Mon Jan 29 2024 11:54:44 GMT+0000 (Greenwich Mean Time)
M561 ; clear any bed transform
; Probe the bed at 3 peripheral and 0 halfway points, and perform 3-factor auto compensation
; Before running this, you should have set up your Z-probe trigger height to suit your build, in the G31 command in config.g.
G30 P0 X-56.21 Y-32.45 H0 Z-99999           ; X tower
G30 P1 X56.21 Y-32.45 H0 Z-99999            ; Y tower
G30 P2 X0 Y64.9 H0 Z-99999                  ; Z tower
G30 P3 X0 Y0 H0 Z-99999 S3                  ; centre
; Use S-1 for measurements only, without calculations. Use S4 for endstop heights and Z-height only. Use S6 for full 6 factors
; If your Z probe has significantly different trigger heights depending on XY position, adjust the H parameters in the G30 commands accordingly. The value of each H parameter should be (trigger height at that XY position) - (trigger height at centre of bed)

G29 S1                                ; load the saved height map from mesh bed compensation; must be run AFTER G32

racitup

@racitup

Bug reported here:
https://github.com/Duet3D/RepRapFirmware/issues/953

casesolved-co-uk created this issue in Duet3D/RepRapFirmware

closed [Bug]: Releases after 2.02 (RepRapFirmware.bin 1.23) broken calibration for delta on duet 0.6 #953

droftarts

@racitup Configurations created for RRF v1.21 should work with 1.26.1, however these haven't been tested for a while, and I've had problems with the Fisher default configuration (I run a Fisher with a Maestro board).

Could you post your config.g? The probing speed is set by M558 F parameter in config.g, and the dive height H and travel speed T are also important. See https://docs.duet3d.com/en/User_manual/Reference/Gcodes#m558-set-z-probe-type

You may also not have set your homed height in M665. When you home X Y and Z at the top of the towers, what does it report the Z value as? When probing starts, there should be a travel move (at speed M558 T#) from the current Z height to Z height M558 H# above the bed, and then probing happens at speed M558 F#.

Though you have posted a bug report, I think it is (a) not a bug and (b) even if it was, never going to be fixed, because RRF 1.x and 2.x are not developed any more.

See https://docs.duet3d.com/User_manual/Tuning/Delta_calibration for info on Delta calibration.

For reference, here's my config.g, though it is for RRF 3.x so not directly usable:

; Configuration file for Duet Maestro (RRF 3)
; executed by the firmware on start-up
;
; generated by RepRapFirmware Configuration Tool v2 on Tue Jul 30 2019 15:07:02 GMT+0100 (British Summer Time)

; General preferences
G90                                         ; Send absolute coordinates...
M83                                         ; ...but relative extruder moves
M550 P"FisherIan"                           ; Set machine name
M665 L161.282:161.282:161.282 R81.878 H174.458 B75.0 X0.008 Y0.270 Z0.000
M666 X0.525 Y0.205 Z-0.730 A0.35 B-0.15
;M665 L160:160:160 R81 B75 H173.674          ; Set delta radius, diagonal rod length, printable radius and homed height
;M666 X0.909 Y-0.405 Z-0.504                 ; Put your endstop adjustments here, or let auto calibration find them
;M575 P1 S1 B57600                          ; enable PanelDue
M918 P1 E4 F2000000                         ; configure direct-connect display

; Network
M552 P0.0.0.0 S1                            ; Enable network and acquire dynamic address via DHCP
M586 P0 S1                                  ; Enable HTTP
M586 P1 S0                                  ; Disable FTP
M586 P2 S0                                  ; Disable Telnet

; Drives
M584 X0 Y1 Z2 E3                            ; Set drive mapping
M569 P0 S0                                  ; Physical drive 0 goes backwards
M569 P1 S0                                  ; Physical drive 1 goes backwards
M569 P2 S0                                  ; Physical drive 2 goes backwards
M569 P3 S1                                  ; Physical drive 3 goes forwards
M350 X16 Y16 Z16 E16 I1                     ; Configure microstepping with interpolation
M92 X87.49 Y87.49 Z87.49 E419.00            ; Set steps per mm
M566 X1200.00 Y1200.00 Z1200.00 E1200.00    ; Set maximum instantaneous speed changes (mm/min)
M203 X15000.00 Y15000.00 Z15000.00 E9000.00 ; Set maximum speeds (mm/min)
M201 X4000.00 Y4000.00 Z4000.00 E4000.00    ; Set accelerations (mm/s^2)
M906 X800.00 Y800.00 Z800.00 E1200.00 I30   ; Set motor currents (mA) and motor idle factor in per cent
M84 S30                                     ; Set idle timeout

; Axis Limits
M208 Z-0.2 S1                               ; Set minimum Z

; Endstops
M574 X2 S1 P"xstop"                            ; configure active-high endstop for high end on X via pin xstop
M574 Y2 S1 P"ystop"                            ; configure active-high endstop for high end on Y via pin ystop
M574 Z2 S1 P"zstop"                            ; configure active-high endstop for high end on Z via pin zstop

; Z-Probe
M558 P5 C"e0stop" H5 F120 T12000 A5            ; Z probe connected to E0 endstop input
G31 P500 X0 Y0 Z-0.2                           ; Set Z probe trigger value, offset and trigger height
M557 R75 S20                                   ; Define mesh grid

; Heaters

; 12V bed heater test
; M308 S0 P"bedtemp" Y"thermistor" T100000 B3988         ; configure sensor 0 as thermistor on pin temp0
; M950 H0 C"bedheat" T0 Q50                              ; create bed heater output on out0 and map it to sensor 0
; M307 H0 R0.313 K0.220:0.000 D9.48 E1.35 S1.00 B0       ; RRF 3.5b2 12V tuning
; M307 H0 A215.5 C661.6 D5.8 S1.00 V11.6 B0              ; RRF 3.1 tuning
; M140 H0                                                ; map heated bed to heater 0
; M143 H0 S120                                           ; set temperature limit for heater 0 to 120C

M140 H-1                                                 ; Disable heated bed

M308 S1 P"e1temp" Y"thermistor" T100000 B4138            ; configure sensor 1 as thermistor on pin e0temp
M950 H1 C"e1heat" T1                                     ; create nozzle heater output on e1heat and map it to sensor 1
M143 H1 S280                                             ; set temperature limit for heater 1 to 280C

M307 H1 R7.165 K1.568:0.014 D3.51 E1.35 S1.00 B0 V18.8   ; RRF 3.5b2+ 19V tuning

; M307 H1 R2.369 K0.923:0.004 D7.08 E1.35 S1.00 B0 V12.1 ; RRF 3.5b2 12V tuning
; M307 H1 R7.046 K1.519:0.006 D3.58 E1.35 S1.00 B0 V18.7 ; RRF 3.4 RC2 tuning
; M307 H1 R6.870 C61.3:54.6 D3.61 S1.00 V18.8            ; RRF 3.3 tuning
; M307 H1 B0 S1.00                                       ; disable bang-bang mode for heater  and set PWM limit

; Fans
M950 F0 C"fan0" Q500                        ; create fan 0 on pin fan0 and set its frequency
M106 P0 S0 H1 T45                           ; set fan 0 value. Thermostatic control is turned on

; M950 F1 C"fan1"
; M106 P1 S0 H-1                            ; set fan 0 value. Thermostatic control is turned off 

; Tools
M563 P0 D0 H1                               ; 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

; Automatic saving after power loss is not enabled

; Custom settings
;M301 H1 P12 I0.4 D80 W180 B300              ; Set nozzle heater PID parameters (from RepRapPro config)

homedelta.g

; homedelta.g
; called to home all towers on a delta printer
;
; generated by RepRapFirmware Configuration Tool v2 on Tue Jul 30 2019 15:07:02 GMT+0100 (British Summer Time)
G91                        ; relative positioning

G1 H1 X184 Y184 Z184 F1800 ; move all towers to the high end stopping at the endstops (first pass)
G1 H2 X-5 Y-5 Z-5 F1800    ; go down a few mm
G1 H1 X10 Y10 Z10 F360     ; move all towers up once more (second pass)
G1 Z-5 F12000              ; move down a few mm so that the nozzle can be centred
G90                        ; absolute positioning
G1 X0 Y0 F12000            ; move X+Y to the centre

bed.g (called by G32)

; bed.g
; called to perform automatic delta calibration via G32
;
; generated by RepRapFirmware Configuration Tool v2 on Tue Jul 30 2019 15:07:02 GMT+0100 (British Summer Time)
M561 ; clear any bed transform
G29 S2
G28
; Probe the bed at 3 peripheral and 0 halfway points, and perform 3-factor auto compensation
; Before running this, you should have set up your Z-probe trigger height to suit your build, in the G31 command in config.g.
G30 P0 X0 Y74.9 H0 Z-99999
G30 P1 X64.87 Y-37.45 H0 Z-99999
G30 P2 X-64.87 Y-37.45 H0 Z-99999
G30 P3 X0 Y0 Z-99999 S3
; Use S-1 for measurements only, without calculations. Use S4 for endstop heights and Z-height only. Use S6 for full 6 factors
; If your Z probe has significantly different trigger heights depending on XY position, adjust the H parameters in the G30 commands accordingly. The value of each H parameter should be (trigger height at that XY position) - (trigger height at centre of bed)
G91            ; relative positioning
G1 Z5 F360     ; lift Z by 5mm
G90            ; absolute positioning
G1 X0 Y0 F5000

And the file I use for 9 point calibration

; bed9factorG32.g
; called to perform automatic delta calibration via G32
;
; generated by RepRapFirmware Configuration Tool v2 on Tue Aug 06 2019 23:29:51 GMT+0100 (British Summer Time)
M561 ; clear any bed transform
G28  ; home all towers
; Probe the bed at 12 peripheral and 3 halfway points, and perform 12-factor auto compensation
; Before running this, you should have set up your Z-probe trigger height to suit your build, in the G31 command in config.g.
G30 P0 X0 Y74.9 H0 Z-99999
G30 P1 X37.45 Y64.87 H0 Z-99999
G30 P2 X64.87 Y37.45 H0 Z-99999
G30 P3 X74.9 Y0 H0 Z-99999
G30 P4 X64.87 Y-37.45 H0 Z-99999
G30 P5 X37.45 Y-64.87 H0 Z-99999
G30 P6 X0 Y-74.9 H0 Z-99999
G30 P7 X-37.45 Y-64.87 H0 Z-99999
G30 P8 X-64.87 Y-37.45 H0 Z-99999
G30 P9 X-74.9 Y0 H0 Z-99999
G30 P10 X-64.87 Y37.45 H0 Z-99999
G30 P11 X-37.45 Y64.87 H0 Z-99999
G30 P12 X0 Y37.4 H0 Z-99999
G30 P13 X32.39 Y-18.7 H0 Z-99999
G30 P14 X-32.39 Y-18.7 H0 Z-99999
G30 P15 X0 Y0 H0 Z-99999 S9
; Use S-1 for measurements only, without calculations. Use S4 for endstop heights and Z-height only. Use S6 for full 6 factors
; If your Z probe has significantly different trigger heights depending on XY position, adjust the H parameters in the G30 commands accordingly. The value of each H parameter should be (trigger height at that XY position) - (trigger height at centre of bed)

racitup

@droftarts Thanks for the info.

It turns out I had deployprobe.g and retractprobe.g in sys which was causing the problem. I'm now testing with 1.26.1 but appears to be working okay.

I'll have a look into M558...

I have calibrated and saved the M665 and M666 using M500 and 4 point bed calibration (and the heaters)

droftarts

@racitup Okay, no problem. Your issue has been marked as closed. In future, it would be good to have a conversation here on the forum before raising an issue, particularly as we have no plans to continue development or fix bugs in RRF 1.x or 2.x.

Ian

o_lampe

@droftarts I remember dimly that I fell in the same trap with a Duet2 controller.
Downloaded the latest rrf2.x zip-file and unpacked it on the SD-card, not knowing, that it included these two files.

Would it count as debugging if they would no longer be part of the zip-file?

droftarts

@o_lampe I don't think we've ever included deployprobe.g and retractprobe.g in a firmware release, or indeed anything in the sys file. If you start with a factory or blank SD card and use the SD_Card_Contents.zip from https://github.com/Duet3D/Duet-2-Hardware/tree/master/Duet2/SD Card Contents you don't get those two files, though confusingly you get a homedelta.g that must be deleted if you are running a cartesian or coreXY machine.

Ian