Multiple motion system homing malfunction

[SANJR]

Hi Everyone,

I am developing a customized machine using Multiple motion system. To brief the x,y,z axes are the first motion and the u axis is the second motion system. Previously when testing the asynchronous but a cordinated motion between the two motion axis i.e., between the x,y,z and u it was good.

The U axis controlled by two macro files and the condition is monitored continuously by a daemon.g file

When i wanted to do a complete trial like home and then do some motion trials. i started something unusal.

1. On homing induvidual axis the u axis motor is rotating. This was not supposed to happen
2. The u axis check the condition of pinrtheadstate in the daemon.g which has two conditions. u axis motor to rotate only when the printhead state is on and not when the printhead state is off. ---> The printheadstate ON or off is controlled by a 5v normal relay connected to OUT_9 5V pin. When i tried by disconnecting the relay connection the u axis still rotates when home x is done. And the X axis is not stopped when the endstop is triggered. Now the axis is almost damaged.......

Hmm...... not sure what is happening? Any feedback or suggestions would really helpful to understand how to trouble shoot plz.....

[T3P3Tony]

@SANJR please post your config.g, the homing files, daemon.g and the macros you refer to.

[o_lampe]

@SANJR I believe you have to rethink the daemon.g code or the macros. They should only be active after x,y,z-axes are homed.
You can check for homed axes in the object model.

I'm not sure where the variables for homed axis can be found, maybe someone else can chime in?

[SANJR]

Hi

Herewith pasting the config.g,

; General preferences
G90                                             ; send absolute coordinates...
M83                                             ; ...but relative extruder moves
M550 P"CENIMAT WAAM"                            ; set printer name
 
; Network
M551 P"SMARTWAAM"                               ; set password
M552 P192.168.2.12 S1                           ; enable network and set IP address
M553 P255.255.255.0                             ; set netmask
M554 P192.168.2.14                              ; set gateway
M586 P0 S1                                      ; enable HTTP
M586 P1 S0                                      ; disable FTP
M586 P2 S0                                      ; disable Telnet
 
; Drives
G4 S2                                           ; Wait for expansion boards to start
M569 P0.0 S0                                    ; Main board.Z0 drive (Z1 Motor) 0.0 goes backward
M569 P0.1 S0                                    ; Main board.Z1 drive (Z2 Motor) 0.1 goes backward
M569 P0.2 S0                                    ; Main board.Z2 drive (Z3 Motor) 0.2 goes backward
M569 P0.3 S0                                    ; Main board.Z3 drive (Z4 Motor) 0.3 goes backward
M569 P0.4 S0                                    ; Main board.Z4 drive (U Feeder Motor) 0.4 goes backward
M569 P1.0 S0                                    ; Expansion board.X drive (X Motor) 1.0 goes backward
M569 P1.1 S0                                    ; Expansion board.Y1 drive (Y1 Motor) 1.1 goes backward
M569 P1.2 S0                                    ; Expansion board.Y2 drive (Y2 Motor) 1.2 goes backward
M584 X1.0 Y1.1:1.2 Z0.0:0.1:0.2:0.3 U0.4        ; set axes drive mapping, expansion board:X&Y axes,main board:Z axis, main board:U axis (feeder motor 1) 
M671 X5:5:545:545 Y80:455:455:80 S5.0           ; leadscrews at Front left, Rear Left, Rear Right and Front right
M350 X16 Y16 Z16 U16 I1                         ; configure microstepping with interpolation
M92 X400.00 Y400.00 Z400.00 U400.00             ; set steps per mm
M566 X300.00 Y300.00 Z180.00 U300.00            ; set maximum instantaneous speed changes (mm/min)
M203 X3000.00 Y3000.00 Z600.00 U3000.00         ; set maximum speeds (mm/min)
M201 X100.00 Y100.00 Z20.00 U100.00             ; set accelerations (mm/s^2)
M906 X2520 Y2520 Z2520 U2520 I100               ; set motor currents (mA) and motor idle factor in per cent
M84 S3600                                       ; Set idle timeout
 
; Axis Limits
M208 X0 Y0 Z0 S1                                ; set axis minima
M208 X550 Y460 Z510 S0                          ; set axis maxima
 
; Endstops
M574 X1 S1 P"!1.io0.in"                         ; configure switch-type (microswitch) endstop for low end on X via pin io0.in via CAN address 1, Expansion board
M574 Y1 S1 P"!1.io1.in+!1.io2.in"               ; configure switch-type (microswitch) endstop for low end on Y1 & Y2 via pin io1.in & io2.in via CAN address 1, Expansion board 
M574 Z2 S1 P"!io0.in+!io1.in+!io2.in+!io3.in"   ; configure switch-type (microswitch) endstop for High end on Z via pin io0.in,io1.in,io2.in,io3.in via Main board
M574 U1 S1 P"0.io7.in"                          ; simple switch on high end
 
; Z-Probe
M558 P5 C"!io8.in" H30 F300 T6000               ; enable Z probe sensor endstop io8.in (Main Board) set dive height, probe speed and travel speed
G31 X0 Y0 Z15                                   ; set or report current probe status
M557 X0:550 Y70:460 S100                        ; define mesh grid
 
; Temperature Sensors
M308 S10 Y"mcu-temp" A"MCU"                     ; defines sensor 10 as main board MCU temperature sensor
M308 S11 Y"drivers" A"Duet stepper drivers"     ; defines sensor 11 as stepper driver temperature sensor
M308 S12 Y"mcu-temp" P"1.dummy" A"3HC MCU"      ; defines sensor 12 as expansion board MCU temperature sensor via CAN address 1
M308 S13 Y"drivers" P"1.dummy" A"3HC Steppers"  ; defines sensor 13 as expansion board stepper driver temperature sensor via CAN address 1
 
; weldtorchstae
global weldtorchstate = 0                       ; assume initially OFF, change 1 to ON
 
; Fans
M950 F1 C"out7" Q250                            ; Create fan 4 pin OUT_7 (fan output) and set its frequency
M106 P1 S0 H-1                                  ; Set fan 4 value. Thermostatic control is turned off
M950 F2 C"out8" Q250                            ; Create fan 5 pin OUT_8 (fan output) and set its frequency
M106 P2 S0 H-1                                  ; Set fan 5 value. Thermostatic control is turned off
M950 P3 C"out9"                                 ; Allocate GPIO port 3 to OUT_9, Weld Torch Relay 5V normal relay
M950 P4 C"out6"                                 ; Allocate GPIO port 4 to OUT_6, U axis feeder motor 5V normal relay
 
; Custom settings are not defined
M950 J1 C"io6.in"                              ; Configure pin J1 as input and assign input pin "io6.in"
M581 P1 T0 S1 R0                               ; Setup Pin 1 when trigger occurs S1 from High to Low State during any time R0 for Emergemcy Push Button, no trigger.g needed
M581 P1 T2 S0 R0                               ; Setup Pin 1 when trigger occurs S0 from Low to High State during any time R0 for Emergemcy Push Button, trigger2.g needed
 
M950 J4 C"!1.io3.in"                           ; Configure pin J4 as X Max(High End) Trigger and assign input pin "io3.in" via CAN address 1
M581 P4 T4 S1 R0                               ; Setup Pin 4 when trigger occurs S1 from NO to NC during any time R0 - trigger4.g 
 
M950 J5 C"!1.io4.in"                           ; Configure pin J5 as Y Max(High End) Trigger and assign input pin "io4.in" via CAN address 1
M581 P5 T5 S1 R0                               ; Setup Pin 5 when trigger occurs S1 from NO to NC during any time R0-trigger5.g
 
M950 J6 C"!0.io4.in"                           ; Configure pin J6 as Z Min(Low End) Trigger and assign input pin "io4.in" in Main Board
M581 P6 T6 S1 R0                               ; Setup Pin 6 when trigger occurs S1 from NO to NC during any time R0-trigger6.g
 
M950 J7 C"!0.io5.in"                           ; Configure pin J7 as Z Min(Low End) Trigger and assign input pin "io.5.in" in Main Board
M581 P7 T7 S1 R0                               ; Setup Pin 7 when trigger occurs S1 from NO to NC during any time R0-trigger7.g
 
; Miscellaneous
M501                                           ; load saved parameters from non-volatile memory

[SANJR]

@T3P3Tony

Homing files

; homex.g
; called to home the X axis
;
G91               ; relative positioning
G1 H1 X-550 F1800 ; move quickly to X axis endstop and stop there (first pass)
G1 H2 X5 F6000    ; go back a few mm
G1 H1 X-550 F360  ; move slowly to X axis endstop once more (second pass)
G90               ; absolute positioning

; homey.g
; called to home the Y axis
;
G91               ; relative positioning
G1 H1 Y-460 F1800 ; move quickly to Y axis endstop and stop there (first pass)
G1 H2 Y5 F1800    ; go back a few mm
G1 H1 Y-460 F360  ; move slowly to Y axis endstop once more (second pass)
G90               ; absolute positioning

; homez.g
; called to home the Z axis
;
G91                ; relative positioning
G1 H2 Z2 F6000     ; lift Z relative to current position
G1 H1 Z510 F1800   ; move Z up until the endstop is triggered
G92 Z510           ; set Z position to axis maximum

; homeall.g
; called to home all axes
;
G91                     ; relative positioning
G1 H2 Z2 F6000          ; lift Z relative to current position
G1 H1 X-550 Y-460 F1800 ; move quickly to X and Y axis endstops and stop there (first pass)
G1 H2 X5 Y5 F6000       ; go back a few mm
G1 H1 X-550 Y-460 F360  ; move slowly to X and Y axis endstops once more (second pass)
G1 H1 Z510 F360         ; move Z up stopping at the endstop
G90                     ; absolute positioning
G92 Z510                ; set Z position to axis maximum

[SANJR]

@T3P3Tony

daemon.g and macro files

;daemon.g
while (true)
    M596 P1
    G91
    while (global.weldtorchstate == 1)
    G1 H4 U99999 F1000 ;selects the U axis & sets the feedrate
    G4 S0.2

; Weld Torch ON
M42 P3 S0            ; turns on the relay to start welder
M42 P4 S1            ; set U axis endstop to high
; set weldtorchstate to ON
set global.weldtorchstate = 1

; Weld Torch OFF
M42 P3 S1 ; turns off the relay
M42 P4 S0 ; set U axis to low end
; set weldtorchstate to OFF
set global.weldtorchstate = 0

[SANJR]

@T3P3Tony said in Multiple motion system homing malfunction:

@SANJR please post your config.g, the homing files, daemon.g and the macros you refer to.

Hi Tony pasted the filesplz take a look .......

[SANJR]

@o_lampe said in Multiple motion system homing malfunction:

@SANJR I believe you have to rethink the daemon.g code or the macros. They should only be active after x,y,z-axes are homed.
You can check for homed axes in the object model.

I'm not sure where the variables for homed axis can be found, maybe someone else can chime in?

Hi

Yes you are correct. The daemon and the macros needs to be active after homing the first motion X,Y,Z axis. I have pasted all the files plz take a look......

And about checking for the homed axes in the object model? Sorry not able to understand where and how to check the object model.... Apologies i am not able to understand.......

[o_lampe]

@SANJR said in Multiple motion system homing malfunction:

;daemon.g
while (true)
    M596 P1
    G91
    while (global.weldtorchstate == 1) ; maybe an if-condition would be better here?
    G1 H4 U99999 F1000 ;selects the U axis & sets the feedrate
 
G4 S0.2 ; this delay should be related to the while(true) loop

[SANJR]

@o_lampe

Thanks

Modified the daemon file

Problem still exists.

[OwenD]

You have no indentation in your second while statement.

[SANJR]

@OwenD said in Multiple motion system homing malfunction:

You have no indentation in your second while statement.

Hi Owen,

Is it the while (global.weldtorchstate == 1) refereing to?
And indentation meaning.....could u plz show it in the code plz

[oliof]

@SANJR

daemon.g
while (true)
    M596 P1
    G91
    while (global.weldtorchstate == 1) ; maybe an if-condition would be better here?
        G1 H4 U99999 F1000 ;selects the U axis & sets the feedrate
 
G4 S0.2 ; this delay should be related to the while(true) loop

[SANJR]

@oliof

Thanks oliof

Will check with the indentation modified

[SANJR]

@OwenD said in Multiple motion system homing malfunction:

You have no indentation in your second while statement.

Thanks Owen

By changing the indentation was able to get it right

[SANJR]

@oliof said in Multiple motion system homing malfunction:

@SANJR

daemon.g
while (true)
    M596 P1
    G91
    while (global.weldtorchstate == 1) ; maybe an if-condition would be better here?
        G1 H4 U99999 F1000 ;selects the U axis & sets the feedrate
 
G4 S0.2 ; this delay should be related to the while(true) loop

Thanks Oliof

Its good now