Dual X Axis Motors with Dual Endstops. Homing togethor

Adamfilip

Duet 3 Mini 5+ Wifi

my X axis has two X motors, each with its own X endstop
I want them to both home simultaneously. and then each stop independently. to square the X axis each time.

I have Split X2 to be U


; Drives Configuration
M569 P0.0 S1 D2                          ; Drive 0.0 (X motor) forwards
M569 P0.1 S1 D2                          ; Drive 0.1 (U motor) forwards
M569 P0.2 S0 D2                          ; Drive 0.2 (Y motor) backwards
M569 P0.3 S1 D2                          ; Drive 0.3 (Z motor) forwards
; M569 P0.4 S1 D2                        ; Uncomment if you have an extruder motor on drive 0.4

; Motor Idle Settings
M906 I30                                 ; Set motor idle current to 30%
M84 S30                                  ; Set idle timeout to 30 seconds

; Axis Mapping
M584 X0.0:0.1 Y0.2 Z0.3 E0.4             ; Assign drives to axes (both X motors to X axis)
; Note: E0.4 is for the extruder; adjust if necessary

; Microstepping and Steps per mm
M350 X16 U16 Y16 Z16 E16 I1              ; Configure microstepping with interpolation
M92 X80 U80 Y80 Z400 E420                ; Set steps per mm

; Axis Limits
M208 X0:400 U0:400 Y0:300 Z0:200         ; Set axis travel limits for X and U axes

; Motor Currents
M906 X800 U800 Y800 Z800 E800            ; Set motor currents (mA)

; Accelerations and Speeds
M566 X900 U900 Y900 Z12 E120             ; Set maximum instantaneous speed changes (mm/min)
M203 X6000 U6000 Y6000 Z180 E6000        ; Set maximum speeds (mm/min)
M201 X500 U500 Y500 Z20 E1000            ; Set accelerations (mm/s^2)

; Kinematics
M669 K0                                  ; Configure Cartesian kinematics

; Endstops Configuration
M574 X1 S1 P"io5.in"                     ; X axis endstop at min position on io5.in
M574 U1 S1 P"io6.in"                     ; U axis endstop at min position on io6.in
M574 Y2 S1 P"io3.in"                     ; Y axis endstop at max position on io3.in
M574 Z1 S1 P"io4.in"                     ; Z axis endstop at min position on io4.in

HomeX code

; homex.g
; called to home the X axis
;
; generated by RepRapFirmware Configuration Tool v3.5.5 on Mon Nov 11 2024 17:58:55 GMT-0500 (Eastern Standard Time)

; increase Z
G91 ; relative positioning
G1 H2 Z5 ; move Z relative to current position to avoid dragging nozzle over the bed
G90 ; absolute positioning

; home X
G91 ; relative positioning
; calculate how far X can travel to the max endstop
var maxTravel = 200
M584 X0.0 X0.1 ; split X motors for independent homing (both motors should move simultaneously)
G1 H1 X0.0-200 X0.1-200 F600 ; coarse home both X motors simultaneously and independently
G1 X5 F6000 ; move back 5mm
G1 H1 X0.0-200 X0.1-200 F300 ; fine home both X motors simultaneously and independently
M584 X0.0:0.1 ; rejoin X motors to move together
G90 ; absolute positioning

; decrease Z again
G91 ; relative positioning
G1 H2 Z-5 F6000 ; move Z relative to current position
G90 ; absolute positioning

so far its not homing properly
things move fine when im manually moving X. but when trying to home X and U (X2) at same time U isnt moving

Adamfilip

@Adamfilip ok I got it working
hope this helps someone

this is my revised home X

; homex.g
; called to home the X axis

; increase Z
G91 ; relative positioning
G1 H2 Z5 ; move Z relative to current position to avoid dragging nozzle over the bed
G90 ; absolute positioning

; home X and U simultaneously
G91 ; relative positioning
M584 X0.0 U0.1 ; split X and U motors for independent homing (enable endstops)
G1 H1 X-200 U-200 F600 ; coarse home X and U motors simultaneously
M584 X0.0:0.1 ; rejoin X and U motors to move together

G90 ; absolute positioning

; decrease Z again
G91 ; relative positioning
G1 H2 Z-5 F6000 ; move Z relative to current position
G90 ; absolute positioning


and here is my config

code_text


; Drives Configuration
M569 P0.0 S1 D2                          ; Drive 0.0 (X motor) forwards
M569 P0.1 S0 D2                          ; Drive 0.1 (U motor / X2) backwards
M569 P0.2 S0 D2                          ; Drive 0.2 (Y motor) backwards
;M569 P0.3 S1 D2                          ; Drive 0.3 (Z motor) forwards
; M569 P0.4 S1 D2                        ; Uncomment if you have an extruder motor on drive 0.4

; Motor Idle Settings
M906 I30                                 ; Set motor idle current to 30%
M84 S30                                  ; Set idle timeout to 30 seconds

; Axis Mapping
M584 X0.0:0.1 Y0.2 Z0.3 E0.4             ; Assign drives to axes (both X motors to X axis)

; Microstepping and Steps per mm
M350 X16 Y16 Z16 E16 I1                  ; Configure microstepping with interpolation
M92 X80 Y80 Z400 E420                    ; Set steps per mm

; Axis Limits
M208 X0:400 Y0:300 Z0:200                ; Set axis travel limits

; Motor Currents
M906 X1100 Y1100 Z800 E800               ; Set motor currents (mA)

; Accelerations and Speeds
M566 X900 Y900 Z12 E120                  ; Set maximum instantaneous speed changes (mm/min)
M203 X6000 Y6000 Z180 E6000              ; Set maximum speeds (mm/min)
M201 X500 Y500 Z20 E1000                 ; Set accelerations (mm/s^2)

; Kinematics
M669 K0                                  ; Configure Cartesian kinematics

; Endstops Configuration
M574 X1 S1 P"io5.in"                     ; X axis endstop at min position on io5.in
M574 U1 S1 P"io6.in"                     ; U axis endstop at min position on io6.in
M574 Y2 S1 P"io3.in"                     ; Y axis endstop at max position on io3.in
M574 Z1 S1 P"io4.in"                     ; Z axis endstop at min position on io4.in

; Tools Configuration
M563 P0 D0 H1 F0                         ; Define tool 0
M568 P0 R0 S0                            ; Set tool 0 active and standby temperatures to 0C

; Allow Movement Without Homing
M564 H0 S0                               ; Allow movement without homing

oliof

@Adamfilip you also could not split the axes and set the endstops pins in one M574 in the order if the defined motors separated by + signs. See https://docs.duet3d.com/User_manual/Connecting_hardware/Z_probe_auto_levelling#axis-levelling-using-endstops

Adamfilip

@oliof Awesome thanks for that!