RRF 3.6.0-beta2+3 - CoreXY Kinematics seem to be broken

Argo

Hi,

because I also got this error with with 3.6.0-beta2+1 :
https://forum.duet3d.com/topic/36988/rrf-3-6-0-beta-2-error-code-7
...I tried 3.6.0-beta2+3 from here: https://www.dropbox.com/scl/fo/pasag1g18orahwvn49qp2/ABWgw6D-TyKWxxurTmGwiUE?rlkey=r9h3rjyw1l4wh7xbr8yho37gw&e=1&dl=0

Problem with RRF 3.6.0-beta2+3:
When commanding +10 on X the tool head moves diagonal. Then I command Y to move back and forth and then back on X fixes the issue and the tool head moves as intended. When commanding to home the axis the tool head moves diagonal again. This did not happen with 3.6.0-beta2+1 (flashed back to confirm).

config.g:

G4 S1        ; wait 1s for expansion boards to start

; General preferences
G90                                         ; Send absolute coordinates...
M83                                         ; ...but relative extruder moves

; Network
M550 P"Walross"                        	; Set machine name
M552 S1                                     	; Enable network
M586 P0 S1                                  ; Enable HTTP
M586 P1 S1                                  ; Disable FTP
M586 P2 S1                                  ; Disable Telnet
M575 P1 S1 B57600							; Panel Due

; Printer geometry
M669 K1                	                    ; Select CoreXY mode
M208 X0:290 Y-3:300 Z-0.2:270              ; Axis Limits
M564 H0							            ; allow unhomed movement

; Drive Mappings
M569 P121.0 S0 D2                             ; Drive 0: E Axis
M569 P0.1 S1 D2                             ; Drive 1: Z-LeftFront Axis
M569 P0.2 S0 D2                             ; Drive 2: Z-LeftRear Axis
M569 P0.3 S1 D2                             ; Drive 3: Z-RightRear Axis
M569 P0.4 S0 D2                             ; Drive 4: Z-RightFront Axis
M569 P0.5 S1 D2                             ; Drive 5: Expansion: B motor (X-axis)
M569 P0.6 S0 D2                             ; Drive 6: Expansion: A motor (Y-axis)


; Motor remapping for dual Z and axis Limits
M584 X5 Y6 Z1:2:3:4 E121.0                              ; Motor mapping
M671 X-60:-60:360:360 Y-10:370:370:-10 S20	        ; Z leadscrews positions Left Front - Let Rear - Right Rear - Right Front

; Microstepping and Speed
M350 X32 Y32 E16 Z32 I1                     ; Configure microstepping with interpolation   
M92 X160.00 Y160.00 Z800.00 E682.00         ; Set steps per mm	1.8 motors							

; Speeds, Acceleration and Jerk
M566 X300.00 Y300.00 Z25.00 E600.00 P1          ; Set maximum instantaneous speed changes (mm/min)
M203 X18000.00 Y18000.00 Z900.00 E1200.00       ; Set maximum speeds (mm/min) ; SpreadCycle
M201 X5000.00 Y5000.00 Z1000.00 E10000.00        ; Set accelerations (mm/s^2) ; SpreadCycle

; Motor currents
M906 X1250.00 Y1250.00 Z1100.00 E1200.00 I50        ; Set motor currents (mA) and motor idle factor in percent 
M84 S30                                            ; Set idle timeout

; Endstops for each Axis
M574 X2 S1 P"io1.in" 					 	; Set X endstop controlled by switch
M574 Y2 S1 P"io2.in"                      	; Set Y endstop controlled by switch
M574 Z1 S2                                  ; Set endstops controlled by probe "OLD" VINDA

; Stallgaurd Sensitivy (maybe use to pause print after crash)
M915 X S2 F0 H200 R0		                ; Set X axis Sensitivity  1.8 motors
M915 Y S2 F0 H200 R0		                ; Set y axis Sensitivity  1.8 motors

; Input Shaper and Accelerometer
M955 P121.0 I05 ;Accelerometer
M593 P"zvdd" F50.7 S0.12

; Z-Probe 
M558 P8 C"121.io2.in" I1 H1.5 F350:300 T12000 A500 S0.0025	; VINDA

; Mesh Grid 
M557 X5:260 Y30:250 P7                         ; 

; Z Probe Offset (Probe behind Afterburner)
G31 P1000 X0 Y25 Z0.560		; VINDA - 3DSWay Textured   0.4 nozzle

; Heatbed Heaters and Thermistor Bed 
M308 S0 P"temp0" Y"thermistor" T100000 B4725 C7.060000e-8       ; Heatbed Thermistor
M950 H0 C"out0" T0 Q10					                        ; Creates Bed Heater (SSR)
M307 H0 R0.889 K0.762:0.000 D3.02 E1.35 S0.6 B0
M140 H0										                    ; Bed uses Heater 0
M143 H0 S116                                                    ; Set temperature limit for heater 0 to 115C Bed

; HotEnd Heaters and Thermistor HotEnd      
M308 S1 P"121.temp0" Y"thermistor" T100000 B4725 C7.06e-8     	; define E0 temperature sensor 
M950 H1 C"121.out0" T1 Q100					                            ; Create HotEnd Heater
M307 H1 R4.568 K0.683:0.000 D4.04 E1.35 S1.00 B0 V24.4				; PID as heater
M143 H1 S295                                                    	; Set temperature limit for heater 1 to 285C HotEnd
M302 S15 R15														; min extrusion (cold extrusion) temp

; Fans Hotend + Part
M950 F3 C"121.out1" Q100				; Creates HOTEND Fan
M106 P3 T65 L1.0 X1.0 H1                 ; HOTEND Fan Settings
M950 F0 C"121.out2" Q100				; Creates PARTS COOLING FAN
M106 P0 H-1                         ; Parts Cooling Fan 

; Fans Electronic compartment & Exhaust
M950 F1 C"out3" Q100				    ; Creates Case Fan 1
M106 P1 T40 S170 L170 X170 H0                 ; Case Fan 1 Settings 
M950 F2 C"out4" Q100				    ; Creates Case Fan 2
M106 P2 T40 S170 L170 X170  H0                  ; Case Fan 2 Settings 
M950 F5 C"out5" Q100				    ; Creates Exhaust Fan
M106 P5 T82 S150 L150 X150 H0                  ; Exhaust fan

; Chamber Thermistor
M308 S3 P"temp1" A"Chamber" Y"thermistor" T100000 B4725 C7.060000e-8     	; define chamber sensor

; Tools
M563 P0 D0 H1 F0                            ; 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

gloomyandy

@Argo Can you provide more information about what exactly you are doing to generate this error. So for instance is the machine homed before you issue those commands? How exactly are you issuing the commands (gcode via the console, using DWC jog commands etc?)?

Ideal would be a short gcode file that you can run that demonstrates the problem. Ideally the gcode command could be run when the printer has just been powered on.

Argo

@gloomyandy

Detailed steps:
-> I power on the printer
-> (axis are not homed). I try to move the tool head +10 on x but it goes right diagonal. When I move +10 on Y it somewhat fixes the issue and X moves as it should
-> when trying to home the axis the problem is back again

I recorded a video, maybe then it's easier to understand:
https://www.youtube.com/shorts/4EAlWwtn1Ss

gloomyandy

@Argo That's a little odd you can't normally move an axis when it has not been homed.

Argo

@gloomyandy

With "M564 H0" in config.g you can.

droftarts

@Argo Thanks, I've highlighted it to @dc42, but it is Sunday!

Ian

dc42

~~@Argo does it work correctly if you send M17 X Y before trying to move the axis?~~

@Argo thanks for reporting this. I have reproduced it and will work on a fix.

dc42

@Argo new 3.6.0-beta.2+4 binaries with a fix for this issue are now at https://www.dropbox.com/scl/fo/ga0jqwfksechhukg2uiz8/AOV3DR8z1C0UWczc8Rx25gE?rlkey=4saeh9luddndvxbhb0kdaqugr&dl=0.

Argo

@dc42

Thanks! I can confirm that problem has been fixed.