Sovol SV08 Multiple Motion System Upgrade.

o_lampe

@dwuk3d said in Sovol SV08 Multiple Motion System Upgrade.:

Thanks - looks interesting - especially the gearing you have added.

These spur gears were printed with a resin printer using anycubic's tough resin. They don't last for ages, but I can print a whole bunch at once.
There are a few user on this board using simpleFOC with it's GCode-compliant step/dir interface.
It's a bit of a learning curve to get used to it's PID behaviour... Their development & documentation status isn't as professional as Duet3D's, yet.
In the past, I've tagged some threads with sFOC or simpleFOC if you are interested.

dwuk3d

NEMA11 seems to be working quite well.

Made some good progress over the last few days on

Reliable Z height from the two gantries. I switched back to just using the induction probes for now - as using Induction plus tap was getting too confusing.
trep.g and tpost.g macros - that include heating up, head cleaning and priming.
Tidying up of macro's so hopefully they work in both multi and single threaded modes.

Basic IDEX things like head cleaning and priming are quite a challenge - so I am trying to get them as reliable as possible before attempting some proper multi colour and parallel prints.

dwuk3d

New build plan - based on INDX - which I think looks a lot less complicated than my previous attempt

Phase 1 - Dual Gantry, Multi Motion System - current phase - still working on refining macro's and reliability.

Phase 2 - ~~Dual~~ Idex on rear gantry only (3 heads) - CoreXYUVW - Still a good testing point for additional kinematics, and avoids the need for motors at the bottom front.

Phase 3 - Occasionally moving bed - to allow for bigger prints, and for all heads to access full Y extent of bed.

Phase 4 - Nozzle Changer - with INDX on front gantry

Print types

Small single colour - using just INDX head on front gantry
Big Single colour - parallel printing with all 3 heads
Small multi colour - Most common 2 colours in rear heads, plus 2 of the INDX slots - most colour changes would then be cross gantry parallel changes - so almost instant
Big multi colour - As Small multi colour - but with some parallel printing too.
Duplicate prints - - up to 3x speed for single colour using all 3 heads

Phase 5 - Only if enough benefits seen from IDEX - Add 4th head - as IDEX on Front Gantry, possibly with stealth changer offload ability for fast non IDEX printing.

~~Phase 4 - AMS - ideally finding a way to connect Bambu Lab AMSs - if not some sort of MMU solution - which will need more Mini5s~~

droftarts

@dwuk3d
alt text

For a moment, it looked like you were going to mount a second INDX on the back of the front gantry!

Ian

dwuk3d

@droftarts haven't ruled out anything yet about the direction of heads on gantries - but I hadn't thought of opposite directions on the same gantry.

Thinking about it - it might actually make the belt routing a bit simpler as have a linear on each side - as the belts wouldn't need to cross the linear rail carriages.

dwuk3d

Been working today on tidying up probing and tool change macros which is proving quite difficult.

I'm currently on 3.5.4
Screenshot 2025-04-03 at 22.01.19.png

Biggest issue I am having is with occasional 'Tool is in use or Axis is in use messages' - the biggest problem with these are that they don't stop execution so a) It can cause head clashes and b) They are quick tricky to track down.

I got a surprising tool temperature requirement - absolute zero - which I need to try and track down the cause.

UPDATE: Solved this issue - I had missed out the S on my M568 - so just had 0 - handy to know for the future.

Also I am getting some quite strange behaviour with the U and Z axis - where sometimes when I do a Z move down it seems to also move U left (probably to where X currently is).

If I then move Z up again and U right - it goes a lot further than I am asking - presumably back to its proper position.

It's interesting seeing the head move in 45 degrees - but it is messing up my probing.

See <<< on line 74 in here for the place where it does the strange move.
Update - Solved - I removed all T0 and T1 commands from alignment/homing/cleaning sequences and that seems to have stopped the odd behaviour.
It left the possibility of parts of the macro's being multi threaded by replacing all T0,T1's with M596.1 T0/T1 - which will still do the tool switches when needed.

;AlignUVZ.g
;
if exists(global.ballProbeX) == false
    abort "XY alignment not found"


G90
G1 Z50 F10000
T0
G1 X30 Y30 F20000

M400
M98 P"0:/macros/FindProbeUV.g"
M574 Z1 S2 K3; Set Z to Ball Probe
G1 H4 Z{global.zHit-1} F300

if sensors.probes[3].value[0] = 0
    echo "Probe not found"
    break
;G1 U204 V149 F10000

T1

; Find basic Z position

var Zpos = {50,49,48,48,48}
var Zrate = {300,200,100,100,100}
var Upos = {10,8,8,8,8}
var Vpos = {10,8,8,8,8}
var UVrate = {1000,800,300,300,300}

var prev = false
var pVM = 0
var pUM = 0

var VM=0
var UM=0


while iterations < 2
    M574 Z1 S2 K3; Set Z to Ball Probe

    G90
    G1 Z{var.Zpos[iterations]} F300
    G91 
    G1 H4 Z-12 F{var.Zrate[iterations]}
    ;echo "Z", {move.axes[2].userPosition}


    var ZP = move.axes[2].userPosition

    G1 Z5 F5000

    M574 Z1 S2 K0; configure Z axis endstop

    ; Now find U middle

    G91
    G1 U{0-var.Upos[iterations]} F5000
    G90
    G1 Z{var.ZP-0.2} F300


    G91
    M574 U1 S2 K3 ; Configure U axis with Z ball probe
    G1 H4 U+10 F{var.UVrate[iterations]}

    ;echo "X1", {move.axes[0].userPosition}
    M400
    var U1 = move.axes[3].userPosition

    G1 Z5 F300
    G1 U{var.Upos[iterations]}  F5000
    G1 Z-5 ; <<< Strange move - where it also moves U back
    M400
    
    G1 H4 U-10 F{var.UVrate[iterations]}
    ;echo "X2", {move.axes[0].userPosition}
    M400
    var U2 = move.axes[3].userPosition

    G1 Z5

    G90
    set var.UM = (var.U1+var.U2)/2
   

    ;echo "XM", {var.XM}
    G1 U{var.UM}

    M574 U2 P"!122.io0.in" S1 ; configure U axis endstop

    ; Now V
    G91

    G1 V{0-var.Vpos[iterations]} F5000
    G1 Z-5 F300
    M574 V1 S2 K3

    G1 H4 V+10 F{var.UVrate[iterations]}
    ;echo "Y1", {move.axes[1].userPosition}
    M400
    var V1 = move.axes[4].userPosition

    G1 Z5 F300
    G1 V{var.Vpos[iterations]} F5000
    G1 Z-5 F300

    G1 H4 V-10 F{var.UVrate[iterations]}
    ;echo "Y2", {move.axes[1].userPosition}
    M400
    var V2 = move.axes[4].userPosition

    set var.VM = (var.V1 + var.V2) / 2

    echo "UM", {var.UM},"VM", {var.VM},"ZP", {var.ZP},"---U1,2",{var.U1},{var.U2},"--V1,2",{var.V1},{var.V2}
    if (var.prev == true)
        echo "variation U:",{var.pUM-var.UM}, "V:", {var.pVM-var.VM}
        
    set var.pVM = var.VM
    set var.pUM = var.UM
    set var.prev = true

    G1 Z5 F300

    G90 
    G1 U{var.UM} V{var.VM} F2000


    M574 V2 P"io4.in" S1 ; U Axis optical


M574 Z1 S2 K3; Set Z to Ball Probe
G91
G1 H4 Z-5
var Z1 = move.axes[2].machinePosition
echo "z1",{var.Z1}

G1 Z5 F1000
G1 U4 F10000
G1 H4 Z-10
var Z2 = move.axes[2].machinePosition
echo "z2",{var.Z2}

G1 Z5 F1000

M574 Z1 S2 K0; configure Z axis endstop

if var.Z1-var.Z2 < 1
    echo "z1,z2",{var.Z1},{var.Z2}
    abort "possible issue with UV alignment"





G90
var adjust = var.UM - global.ballProbeX
echo "adjusting U",{global.ballProbeX - var.UM},"V",{global.ballProbeY - var.VM}
G92 U{global.ballProbeX} V{global.ballProbeY}

if exists(global.UVAdjusted) == false
    global UVAdjusted = true

I have written a little wrapper macro form M596 - M596.1 - which a) Has the ability for M596's to be switched off, and be allows the tool to be specified instead of the motion system.

NB/ At present my tools and motion systems are swapped round - i.e. T0 is in motion system 1, and T1 in ms 0 - This was due to issues I was having when I have a servo on T1 (UV axis) - so I may well swap them back around at some point.

;M596.1,g
;M596.1 P-1  ; Ignore M596.1 commands until P-2

if exists(global.M596_stat) == false
    global M596_stat = -1
    
if exists(param.P)
    if param.P < 0
        set global.M596_stat = param.P
    else
        if global.M596_stat == -2
            M596 P{param.P}

if exists(param.T) && global.M596_stat == -2
    if param.T == 0
        M596 P1
        T0
    else
        M596 P0
        T1


if exists(param.Z) && global.M596_stat == -2

        M596 P0
        T1

dwuk3d

Ball probe Auto Alignment getting fairly good.

Images of nozzle as was found by printer with no manual adjustment or head movements.
Screenshot 2025-04-04 at 08.36.39.png

The alignment isn't perfectly on the centre of the nozzles in the camera because I can't guarantee the XY offset between the camera and ball probe - due to the swing out movement based on a servo - which might be a slightly different angle every time.

Checking with the camera I am getting a 0.1mm variation in the X/U axis, and 0.7mm in the Y/V axis.
Not sure if this a consistent difference or whether it varies.

Not sure if this is dirty nozzles, nozzle shape irregularity or RRF Ball Probe macros' or just the sort of error you might get with a ball probe vs camera.

My XY Axis is still on sensorless end stops - so will be interesting to see what difference it makes swapping between sensorless and optical end stops in keeping alignment across reboots.

o_lampe

I think I just had a bright moment regarding z-hop: Re-purposing Rc-car servo savers could be the answer to more torque and accuracy, whilst still be backlash-free.
I tried to find a good picture to show how they work and came up with this:
alt text

Twisting the servo arm while the output-side is fixed to the tool head would be translated to vertical lift (or drop if you want to use gravity to your advance).
They usually come with an adjustable spring which isn't shown here.

dwuk3d

@o_lampe said in Sovol SV08 Multiple Motion System Upgrade.:

Rc-car servo savers

Thanks - are you suggesting having this attached to a non geared stepper motor, or a servo or somehow attaching it to the lead screw to translate big linear movements into smaller more powerful ones?

The final Nema8 I ordered just arrived and its a non lead screw 34 high vs most of the others which were 24 - so hopefully a bit more powerful.

The Lead Screw Nema 11 still seems to be working quite well in my probing and Z offset tests - but haven't actually tried doing some proper printing with lots of Z Hopping yet. It is noticeably quicker than the tiny linear stepper that I had on the other axis - and I think will end up being quicker the geared belt driven Z Axis of the SV08

The good news with my current 3 rather than 4 headed next step is at least it means one less Z hopper motor to buy.

Shame I bought the 4th Extruder/ 1LC board and 2nd Mini5 - as I think I might be able to get away with the 16 drivers available on the 6HC, Mini5+, plus 3x1LC

Glad I haven't done to termination removal drill out on the Mini5+ board yet.

dwuk3d

Work progressing on dual colour printing - example of auto alignment (it looked fairly good on the camera so I didn't adjust it at all).
Screenshot 2025-04-05 at 13.43.50.png

Also made an extremely useful discovery about pre-heating - Orca Slicer (and probably PrusaSlicer and Bambu Studio supports it).

Example below with 2 seconds specified. - see 5th line down.

This will be very useful - because I can fairly easily change the G10 Pre-heats to be a macro call with a post processor - which can they do:

More intelligent pre-heating based on the actual amount the inactive extruder has cooled - perhaps with some feedback to see how long it actually takes to reheat.
Do the priming in parallel - so that as soon as in this example T0 has completed T1 can then start immediately printing - with hopefully almost no delay.

G1 X131.54 Y141.994 E.34619
G1 X131.54 Y142.652 E.02497
M73 P23 R1
G1 X137.336 Y148.448 E.31089
G10 S220 P1 ; preheat T1 time: 2s
G1 X136.677 Y148.448 E.02497
G1 X131.54 Y143.31 E.27558
G1 X131.54 Y143.968 E.02497
G1 X136.019 Y148.448 E.24028
G1 X135.361 Y148.448 E.02497
G1 X131.54 Y144.627 E.20497
M73 P24 R1
G1 X131.54 Y145.285 E.02497
G1 X134.703 Y148.448 E.16966
G1 X134.044 Y148.448 E.02497
G1 X131.54 Y145.943 E.13436
G1 X131.54 Y146.601 E.02497
G1 X133.386 Y148.448 E.09905
G1 X132.728 Y148.448 E.02497
M73 P25 R1
G1 X131.54 Y147.259 E.06375
G1 X131.54 Y147.918 E.02497
G1 X132.275 Y148.654 E.03947
; stop printing object Cube id:0 copy 0
; printing object Cube id:1 copy 0
; stop printing object Cube id:1 copy 0
G10 ; retract
; filament end gcode 
M106 P3 S0
G10 S215 P0 ; set nozzle temperature ;cooldown
;M98 P"0:/macros/changeFilament.g" A previous_extruder  B new_filament_temp  L layer_num  N next_extruder   F first_layer_temperature1

M98 P"0:/macros/changeFilament.g" A0 B220 L0  N1  F220 


M106 S0
T1
; Filament gcode
G10 S220 P1 ; set nozzle temperature

dwuk3d

Simple post processing script created

#!/usr/bin/python3

# preheat - simple script to change all G10 & G11 commands to .1 versions - so that they run a Macro in RRF

# Based on example from Bobs Notebook. - https://projects.ttlexceeded.com/3dprinting_prusaslicer_post-processing.html


import sys
import re
import os




sourceFile=sys.argv[1]

# Read the ENTIRE g-code file into memory
with open(sourceFile, "r") as f:
    lines = f.readlines()

destFile = sourceFile
os.rename(sourceFile,sourceFile+".preheat.bak")

count = 0

with open(destFile, "w") as of:
    for lIndex in range(len(lines)):
        oline = lines[lIndex]
        # Parse gcode line
        
        if oline.startswith("G10 ") and "X0 " not in oline:
            oline = oline.replace("G10 ","G10.1 ")
            if "preheat" in oline:
                oline = oline.replace("G10.1 ","G10.1 Q1 ")
            count += 1
            
            of.write(oline);
        elif oline.startswith("G11 "):
            oline = oline.replace("G11 ","G11.1 ")
            count += 1
            
            of.write(oline);
       
        else:
            # Write original line       
            of.write(oline)
            
    of.write(";****\n;****preheat " + str(count) + " lines changed\n") 
of.close()
f.close()

Screenshot 2025-04-05 at 14.27.24.png

Results - changing G10's all to G10.1 (except G10's with lots of AXIS parameters in).

M73 P23 R1
G1 X137.336 Y148.448 E.31089
G10.1 Q1 S220 P1 ; preheat T1 time: 2s
G1 X136.677 Y148.448 E.02497
G1 X131.54 Y143.31 E.27558
G1 X131.54 Y143.968 E.02497
G1 X136.019 Y148.448 E.24028
G1 X135.361 Y148.448 E.02497
G1 X131.54 Y144.627 E.20497
M73 P24 R1
G1 X131.54 Y145.285 E.02497
G1 X134.703 Y148.448 E.16966
G1 X134.044 Y148.448 E.02497
G1 X131.54 Y145.943 E.13436
G1 X131.54 Y146.601 E.02497
G1 X133.386 Y148.448 E.09905
G1 X132.728 Y148.448 E.02497
M73 P25 R1
G1 X131.54 Y147.259 E.06375
G1 X131.54 Y147.918 E.02497
G1 X132.275 Y148.654 E.03947
; stop printing object Cube id:0 copy 0
; printing object Cube id:1 copy 0
; stop printing object Cube id:1 copy 0
G10.1 ; retract
; filament end gcode 
M106 P3 S0
G10.1 S215 P0 ; set nozzle temperature ;cooldown
;M98 P"0:/macros/changeFilament.g" A previous_extruder  B new_filament_temp  L layer_num  N next_extruder   F first_layer_temperature1

M98 P"0:/macros/changeFilament.g" A0 B220 L0  N1  F220 


M106 S0
T1
; Filament gcode



....

;****preheat 21 lines changed

Now I just need to write the G10.1.g macro - to do the preheating and parallel priming.

dwuk3d

Parallel colour changes more or less working.

I used Orca Slicer to send 17 second pre-heating G10's

The preheat G10 comes in the opposite motion system to the one that needs the colour change to kick off.

So I used a loop within the next motion system to wait for the target temperature to change.- by checking heat.heaters[].active, and checking for temperature reached by looping around and checking sensors.analog[].lastReading.

Then once temperature reached I kicked off the priming, and then have a M598 just after the priming, but before the printing - so that the printer waits until the other motion system has finished it's work - before starting with the new colour.

The eventual aim would be to tune the preheat, and introduce a precisely timed delay so that the priming of the next colour finishes exactly when the other colour finishes.

For the SV08 heaters will need a longer preheat period - and will change the preheat to a tiny amount - so that I can pick up the change.
Will then depending on the current temperature either wait a bit, or kick of preheating straight away - with the heat up time calculated to leave exactly enough time for priming to be completed at exactly the same time as the other colour finishes printing.,
so that ideally the M598 at the end is pretty much instant.

NB/. This way of working is only for small multi colour / multi material models. For bigger objects, where there is room on the print bed for both print heads to be printing at the same time, much more use of the RRF Multi Motion System capabilities will be made.

Short demo video here
https://youtu.be/Qn1SG_vc8X8

dwuk3d

Better demo of parallel colour/material changes - some changes as quick as 2 seconds.

Still more work to do - but synchronisation getting closer.

Using preheat G10's to kicking off the Pre Heat, delay, final heat, priming, tool change.

Demo here.

https://youtu.be/uk7KTCqrujg

Tool change macro getting pretty complicated....

;changeFilament.g
;M98 P"0:/macros/changeFilament.g" A{previous_extruder} B{new_filament_temp} L{layer_num} F{first_layer_temperature} N{next_extruder} H{first_layer_height}
echo {state.thisInput},"changeFilament"



if exists(global.primeLayer) == false
    global primeLayer = {-2,-2}

;if exists(param.A) && param.A == 0
;    M98.1 A"parkXY.g"

;if exists(param.A) && param.A == 1
   ; M98.1 A"parkUV.g"

if exists(param.H)
    G1 Z{param.H} F500

if exists(param.N) && param.N == 0
    
    M596.1 P1
    T0
    echo {state.thisInput},"step 0 - wait for 200",{sensors.analog[param.N+1].lastReading}
    while heat.heaters[1].active < 200
        G4 P500
        ;echo {state.thisInput},"step 0 - wait for 200",{sensors.analog[param.N+1].lastReading}

    ;echo {state.thisInput},"M116 P1 from ",{sensors.analog[param.N+1].lastReading}," to 200"
    ;var start = state.upTime
    ;M116 P{param.N}
    ;echo {state.thisInput},"step 1 heat up time",{floor(state.upTime-var.start)},"s"

    ;**** Calculate delay
    var delayT = global.preHeatT  
    echo {state.thisInput},"delayT initial",var.delayT
    if exists(param.L) && param.L <= 0
        if global.primeLayer[param.N] < param.L 
            set var.delayT = var.delayT - global.primeTime0*2
        
    if exists(param.L) && param.L > 0 && global.primeLayer[param.N] < param.L
         set var.delayT = var.delayT - global.primeTime0

    echo {state.thisInput},"delayT with prime",var.delayT

    ; post delay heatup
    var lastR = sensors.analog[param.N+1].lastReading
    if var.lastR < 200
        set var.delayT = var.delayT - ((220-200)/global.degSec)
        if (200-var.lastR)/global.degSec > var.delayT
            set var.delayT = var.delayT - ((200-var.lastR)/global.degSec - var.delayT)

    echo {state.thisInput},"delayT with heatup",var.delayT
    ;set var.delayT = var.delayT - 1


    if var.delayT <= 0 
        echo {state.thisInput},"SYNC not enough time to parallel tool change",floor(-var.delayT*10+0.5)/10,"secs short"
    else
        if  heat.heaters[2].active < 200
            echo {state.thisInput},"SYNC - other motion system not active - so no need to wait"
        else
            echo {state.thisInput},"SYNC - wait for",floor(var.delayT*10+0.5)/10,"secs"
            G4 P{floor(var.delayT*1000)}
        

    M568 P0 S220 R220
    ;echo {state.thisInput},"heat up step2"
    var start = state.upTime+state.msUpTime/1000
    var startReading = sensors.analog[param.N+1].lastReading
    echo {state.thisInput},"M116 P0 from ",{sensors.analog[param.N+1].lastReading}," to 220"
    M116 P0

    var delayFurther = false
    if heat.heaters[2].active > 199
        set var.delayFurther = true
   
    while sensors.analog[param.N+1].lastReading < 219
        M568 P0 S220 R220
        G4 P500
    echo {state.thisInput},"step2 heat up time",{(state.upTime+state.msUpTime/1000-var.start)},"s",{sensors.analog[param.N+1].lastReading},"temp",{(sensors.analog[param.N+1].lastReading-var.startReading)/(state.upTime+state.msUpTime/1000-var.start)},"deg/sec"
    if exists(param.L) && param.L <= 0
        if global.primeLayer[param.N] < param.L
            M98.1 A"clean T0"
            M801 X40 Y5 T0 S10  ; Prime
            M801 X40 Y5 T0 S10 ; Prime
            set global.primeLayer[param.N] =  param.L
    if exists(param.L) && param.L > 0 && global.primeLayer[param.N] < param.L
        M801 X40 Y5 T0 S10 ; Prime
        set global.primeLayer[param.N] =  param.L


    set global.T0Clean = false
    var timeC = state.upTime+state.msUpTime/1000
    while global.uvParked = false ; move.axes[4].machinePosition <290
        G4 P500
        M400
    echo {state.thisInput},"Waited for uv to be parked ",{state.upTime+state.msUpTime/1000-var.timeC},"secs"


    set global.xyParked = false
    echo {state.thisInput},"finished changeFilament"

if exists(param.N) && param.N == 1
    
    M596.1 P0
    T1
    
    echo {state.thisInput},"step 0 - wait for 200",{sensors.analog[param.N+1].lastReading}
    while heat.heaters[2].active < 200
        G4 P500
        ;echo {state.thisInput},"step 0 - wait for 200",{sensors.analog[param.N+1].lastReading}

    ;echo {state.thisInput},"M116 P1 from ",{sensors.analog[param.N+1].lastReading}," to 200"
    ;var start = state.upTime
    ;M116 P{param.N}
    ;echo {state.thisInput},"step 1 heat up time",{floor(state.upTime-var.start)},"s"
     ;**** Calculate delay
    var delayT = global.preHeatT 
    echo {state.thisInput},"delayT initial",var.delayT
    if exists(param.L) && param.L <= 0
        if global.primeLayer[param.N] < param.L 
            set var.delayT = var.delayT - global.primeTime1*2
        
    if exists(param.L) && param.L > 0 && global.primeLayer[param.N] < param.L
         set var.delayT = var.delayT - global.primeTime1
    echo {state.thisInput},"delayT with prime",var.delayT
    ; post delay heatup
    var lastR = sensors.analog[param.N+1].lastReading
    if var.lastR < 200
        set var.delayT = var.delayT - ((220-200)/global.degSec)
        if (200-var.lastR)/global.degSec > var.delayT
            set var.delayT = var.delayT - ((200-var.lastR)/global.degSec - var.delayT)
    echo {state.thisInput},"delayT with heatup",var.delayT

    ;set var.delayT = var.delayT - 1


    if var.delayT <= 0 
        echo {state.thisInput},"SYNC not enough time to parallel tool change",-var.delayT,"secs short"
    else
        if  heat.heaters[2].active < 200
            echo {state.thisInput},"SYNC - other motion system not active - so no need to wait"
        else
            echo {state.thisInput},"SYNC - wait for",var.delayT,"secs"
            G4 P{floor(var.delayT*1000)}


    M568 P1 S220 R220
    ;echo {state.thisInput},"heat up step2"
    var start = state.upTime+state.msUpTime/1000
    var startReading = sensors.analog[param.N+1].lastReading
    echo {state.thisInput},"M116 P1 from ",{sensors.analog[param.N+1].lastReading}," to 220"
    M116 P1
    
    while sensors.analog[param.N+1].lastReading < 220
        M568 P1 S220 R220
        G4 P500
    echo {state.thisInput},"step2 heat up time",{(state.upTime+state.msUpTime/1000-var.start)},"s",{sensors.analog[param.N+1].lastReading},"temp",{(sensors.analog[param.N+1].lastReading-var.startReading)/(state.upTime+state.msUpTime/1000-var.start)},"deg/sec"

    var delayFurther = false
    if heat.heaters[1].active > 199
        set var.delayFurther = true


    if exists(param.L) && param.L <= 0

        
        if global.primeLayer[param.N] < param.L
            M98.1 A"clean T1"
            T1
            M801 U50 V315 T1 S10 ; Prime
            M801 U50 V315 T1 S10 ; Prime
            set global.primeLayer[param.N] =  param.L

    if exists(param.L) && param.L > 0 && global.primeLayer[param.N] < param.L
        M801 U50 V315 T1 S10 ; Prime
        set global.primeLayer[param.N] =  param.L




    set global.T1Clean = false
    var timeC = state.upTime+state.msUpTime/1000

    ;echo {state.thisInput},"M598 started"
    ;M598
    ;M400
    ;echo {state.thisInput},"M598 waited for ",{state.upTime+state.msUpTime/1000-var.timeC},"secs"
    set var.timeC = state.upTime+state.msUpTime/1000
    while global.xyParked = false ; move.axes[1].machinePosition > 25
        G4 P500
        M400
    echo {state.thisInput},"waited for xy to be parked ",{state.upTime+state.msUpTime/1000-var.timeC},"secs"

    set global.uvParked = false


    echo {state.thisInput},"finished changeFilament"

dwuk3d

Test post

<table>
<thead>
<tr>
<th>Header</th>
<th>Another Header</th>
</tr>
</thead>
<tbody>
<tr>
<td>field 1</td>
<td>value one</td>
</tr>
</tbody>
</table>

# * ~~bolded text~~

droftarts

@dwuk3d You can't do html tables in the forum, but you can do markdown tables, eg the following text:

| Column 1      | Column 2      |
| ------------- | ------------- |
| Cell 1, Row 1 | Cell 2, Row 1 |
| Cell 1, Row 2 | Cell 1, Row 2 |

creates this:

Column 1	Column 2
Cell 1, Row 1	Cell 2, Row 1
Cell 1, Row 2	Cell 1, Row 2

Ian

dwuk3d

@droftarts Great thanks - couldn't find that in the documentation.

That makes things really easy - as I can just copy a table over from the TeachingTech discourse where I have started to build it up- might put this in a separate thread - but I am trying to build up a list of different colour changer options - mainly to compare them with my solution.

Re my Dual Gantry timings - I think if I change the polling frequency down from about 0.05 seconds, and kick off my tool move within about 0.06 seconds of the parking move of the other tool then I can get my tool changes down to about 0.1 secs.

Multi Colour/Filament Solution Comparison

Tool	Timing	Link	Waste	Reliability (DW view)	Colours	Multi Material	Base printer speed (DW view)	Parent
Mosaic Palette 2/3	~ 90 s	2020	H	L	4-8		1	None
X1C AMS + Flush into object	~ 120 s	2023	L	H	4-16		7	MMU2
X1C AMS - off bed flushing	~ 90 s	2023	H	H	4-16		8	MMU2
X1C AMS no prime tower	~90 s	2023	H	M	4-16		8	MMU2
A1 AMS Lite- off bed flushing	~90 s	2023	H	H	4		7	MMU1
Creality K2plus CFS	~90 s	2025	H	M	4-16		9	AMS
Other X1C AMS clones	~90 s	2025	H	M	4-16			AMS
Box Turtle	~ 75 s	2024	H	M	4			AMS
Klipper OpenAMS - BL AMS electronics upgrade	~90 s	2024	H	M	4			AMS
ERCF	~ 80 s	2023	H	L	4-16		8	MMU2
Prusa MMU1	~70 s	2016	H	L	4		4	None
Prusa MMU2	~70 s	2018	H	L	5		4	MMU1
Ryper MMU2 Clone	~70s	2022	H	L	10		6	MMU2
Prusa MMU3	~70 s	2023	H	M	5		6	MMU2
PICO MMU	~70 s	2024	H	M	4		6	MMU2
CoPrint Chroma AMS Lite Type Addon	~60 s	2024	H	M	4-16			AMS Lite
3d Chameleon AMS Lite type add-on	~ 60s	2023	H	M	4+			MMU2
Other 3rd party AMS/3rd party offerings	~90s		H	L				AMS
Filament Star rotating toolchanger	~60 s	2023	H	L	4+	Y
TeachingTech SV08 Stealth changer	~ 60 s	2025	L	M	6-8	Y	8	E3D
Misschanger Stealthchanger	~ 40 s	2025	L	M	6-8	Y		E3D
H2D AMS2 pro	~ 90 s	2025	H	H	4-28	2	8	AMS
H2D between nozzles	~ 26 s	2025	L	H	4-28	2	8	AMS + DualX
E3D toolchanger	~ 30 s	2021	L	M	2-5	Y		None
Prusa XL	~ 14 s	2024	L	H	2-5	Y	6	E3D
Nozzle changer (engineers grow)	~ 20 s	2024	L	M	2-10	Y		XL + Swapper3d
Nozzle changer (Matti / @mvaar)	~ 20 s	2024	L	M	2-10	Y		XL + Swapper3d
Virtual Colours Hueforge etc	Any	2020 2022 2023	L	H	20+	N/A	Any	Lithopane
PolyDye - That inkjet colouring thing you featured on an ender printer.	~? s	2024	L	M	infinite		3
Flashforge CJ270 Full Colour Resin Printer	~?s	2024 2026	L	H	Infinite	N/A	7 - 2.5mm/hour
EufyMake E1 UV printer	~?s	2025	L	H	Infinite	N/A	5mm Max Height
Bigbrains3d Swapper3d nozzle changer	~ 90 s	2023	H	M	2-20	Y	3	MMU2
Bondtech INDX	12-17 s	2025	L	H	2-10+	Y		XL + Swapper3d
Conventional IDEX (with and without preheat)	~ 10 s - 60s	2018	L	H	2	2	5
Conventional IDEX with box turtle on each toolhead (or ratrig IDEX/RMMU)	~10s - 90s	2021	H	M	5-8	2
Ratrig Toolshift IDEX - without priming	<1 s - 10s	2024	L	M	2	2	8	IDEX
Nathan Builds Robots 4 headed rotary printer	< 10s	2024	L	M	4	Y	15+
ukdw3d SV08 - Dual Gantry RRF parallel Bondtech INDX e	< 0.5s - 17s	2026	L	M	11+	Y	15+	INDX
ukdw3d SV08 - Dual gantry/dual IDEX RRF	<0.5 s - 10s	2025	L	M	4	Y	15+	IDEX + Dueling Zero

dwuk3d

Been dusting off some maths knowledge today to try and more accurately position my print head over the top of the camera after auto aligning with the ball probe.

Firstly used a few captured nozzle probe and manually aligned readings, plus some measurements of the distance of the probe and camera from the servo pivot point to try and work out the XY coordinates of the servo pivot point.

With a bit of trial and error I found some numbers that worked

Then wrote this macro to calculate the camera position from ball probed UV coordinates - really please to see SIN/COS/ASIN/ACOS functions available...

;cameraFromUV.g

M98 P"0:/macros/ParkXY.g"




;probe U 251.3187 offset U -13.6500092 probe V 202.1375 offset V 41.20003
;probe U 251.0562 offset U -14.2998352 probe V 199.4344 offset V 41.00005
;probe U 250.8687 offset U -14.7497253 probe V 197.4219 offset V 40.84999
;probe U 250.8938 offset U -14.6997528 probe V 197.5125 offset V 40.85002
;probe U 250.8000 offset U -15.0500336 probe V 196.2250 offset V 40.80002
;probe U 250.9875 offset U -14.4999847 probe V 198.0063 offset V 40.89999
;



;G1 U251.4 V202.8 F10000
var uPos = global.ballProbeU+14.5
var vPos = global.ballProbeV-40.9

var servoX = 427.9
var servoY = 188.3
var probePosRadius = 177
var cameraPosRadius = 165
var cameraOffsetAngle = 14

var probeAngle = degrees(asin((global.ballProbeV-var.servoY)/var.probePosRadius))

if var.probeAngle < 90
    set var.probeAngle = 180 - var.probeAngle

var cameraX = var.servoX + var.cameraPosRadius * cos(radians(var.probeAngle+var.cameraOffsetAngle))
var cameraY = var.servoY + var.cameraPosRadius * sin(radians(var.probeAngle+var.cameraOffsetAngle))


echo "U",global.ballProbeU,"V",global.ballProbeV,"angle",var.probeAngle,"cX",var.cameraX,"cY",var.cameraY

if var.cameraX > 200 && var.cameraX < 300 && var.cameraY > 140 && var.cameraY < 200
    set var.uPos = var.cameraX
    set var.vPos = var.cameraY
else
    abort "cameraFromUV.g - suspect camera calculations"
    

if exists(global.savedU) == false
    global savedU = -1
    global savedV = -1

set global.savedU = var.uPos
set global.savedV = var.vPos






G1 U{var.uPos} V{var.vPos}  F10000

if exists(global.servo5Off) && global.servo5Off > 0
    set global.servo5Off = state.upTime + 120
if exists(global.magnetOff) && global.magnetOff > 0
    set global.magnetOff = state.upTime + 120

results pretty good - all photos are auto alignment and direct move to the camera

Notice the benefits of a camera over a ball probe in first photo - where the ball probe misaligned due to dirty nozzle.

UV

XY after cleaning

dwuk3d

Sub second tool change demo.

o_lampe

@dwuk3d As long as the belts along the crossbeam aren't aligned properly you won't see accurate positions anywhere else on the bed.
But it's good to have the theory behind alignement solved.

dwuk3d

@o_lampe yes - probably need to properly align belts in next stage.

I'm also thinking of trying the probe at some different angles to see whether the alignments of the two gantries are the same with the probe at different places on the bed.

I quite like the look of the new BambuLab H2D special alignment print bed - using camera's on the print head to read tiny qr codes at pre determined places.