G30 during G28 issue

Leonard03

Started now a print. Pause and resume works as expected, skew compensation is active

Axis compensations - XY: 0.00690, YZ: 0.00000, ZX: 0.00000

Inducing a "power failure" and resuming:

Axis compensations - XY: 0.00690, YZ: 0.00000, ZX: 0.00000

So skew compensation is still active and correctly applied, but the shift is there

dc42

@Leonard03 please post your resurrect.g file (after pausing) and your resurrect-prolog.g file.

Leonard03

@dc42 This a ressuregt.g after a print that had a shift, that I cancelled

; Resume printing file "0:/gcodes/xyzCalibration_cube,0.2mm,PLA,Anycubic PLA Pantone Spring Leaf,25m.gcode" after print paused at 2025-05-19 21:06
M140 P0 S60.0
G29 S1
M568 P0  A0 S210 R170
M568 P1  A0 S210 R170
M568 P2  A0 S210 R170
M568 P3  A0 S210 R170
M568 P4  A2 S210 R170
G21
M98 P"resurrect-prologue.g" X144.359 Y141.863 Z3.400 U57.000 V0.000 W17.998
M290 R0 X0.000 Y0.000 Z0.000 U0.000 V0.000 W0.000
M205 X10.00 Y10.00 Z0.40 U1.00 V4.00 W0.10
; Workplace coordinates
G10 L2 P1 X0.00 Y0.00 Z0.00 U0.00 V0.00 W0.00
G10 L2 P2 X0.00 Y0.00 Z0.00 U0.00 V0.00 W0.00
G10 L2 P3 X0.00 Y0.00 Z0.00 U0.00 V0.00 W0.00
G10 L2 P4 X0.00 Y0.00 Z0.00 U0.00 V0.00 W0.00
G10 L2 P5 X0.00 Y0.00 Z0.00 U0.00 V0.00 W0.00
G10 L2 P6 X0.00 Y0.00 Z0.00 U0.00 V0.00 W0.00
G10 L2 P7 X0.00 Y0.00 Z0.00 U0.00 V0.00 W0.00
G10 L2 P8 X0.00 Y0.00 Z0.00 U0.00 V0.00 W0.00
G10 L2 P9 X0.00 Y0.00 Z0.00 U0.00 V0.00 W0.00
M486 S-1
T4
G54
M106 S0.99
M116
G92 E1.83369
M83
G94
G17
M23 "0:/gcodes/xyzCalibration_cube,0.2mm,PLA,Anycubic PLA Pantone Spring Leaf,25m.gcode"
M26 S54031
G0 F6000 Z5.400
G0 F6000 X144.359 Y141.863 U57.000 V0.000 W17.998
G0 F6000 Z3.400
G1 F1871.0 P0
M204 P1000.0 T2000.0
G21
M106 P0 S0.99
M302 P0
M24

And this is resurrect-prologue.g

M17 E0

G28 X Y						; home X and Y, hope that Z hasn't moved
if global.MMUmode = true
	M98 P"0:/sys/MMU Control/homeMMU.g"

G91
G1 Z-5

Please have a look at this description

@Leonard03 said in G30 during G28 issue:

Reenable the extruder stepper (this is a very old bug in RRF. I can't use the MMU to load filament if the extruder stepper is disabled, so enable it before anything else)
Home X and Y axis (Z axis has never been disabled)
Rehome the MMU (UVW axis)
Lower the Z axis (I can't remember exactly why this is necessary, but it works)
And after, RRF executes ressurrect.g.
Until now, is anything that seems out of place?

droftarts

@Leonard03 We are homing in on a bug, related to applying the skew compensation when axes are homed at the same time. In 3.5.4, this worked correctly, but now doesn't seem to.

The difference is in how the skew compensation is applied. "resurrect-prologue.g" needs to run just X and Y homing, it runs home X, then home Y. Skew compensation is applied to X once Y is homed. In homeall.g, X and Y are homed at the same time, but doesn't seem to apply skew compensation until after the first move, which is when the axes move to resume the print, so will be in the wrong place.

A workaround for now is to modify your homeall.g so it homes X, then Y, rather than both at the same time. Either replace the X and Y homing lines with the lines from homex.g and homey.g, or as @fcwilt mentioned earlier in this thread, replace them by calling the homex.g and homey.g macros, eg

M98 P"homex.g"
M98 P"homey.g"

Then it should resurrect in the same place. @dc42 is working on a fix.

Ian

Leonard03

@droftarts Interesting point of view. All right, I'm trying this now and report back

Leonard03

@droftarts Tried the suggested workaround
Umm.. I don't know what to say
I've modified the homeall.g from:

; homeall.g
; called to home all axes
;
; generated by RepRapFirmware Configuration Tool v3.2.0 on Tue Dec 29 2020 16:23:44 GMT+0200 (Eastern European Standard Time)

G91							; relative positioning
G1 H2 Z5 F6000				; lift Z relative to current position
G1 H1 X-320 Y-306 F1800		; move quickly to X and Y axis endstops and stop there (first pass)
G1 X5 Y5 F6000				; go back a few mm
G1 H1 X-320 Y-306 F240		; move slowly to X and Y axis endstops once more (second pass)
G1 H1 Z-405 F240			; move Z down stopping at the endstop

G90							; absolute positioning
G1 Z5
G1 X{(310/2)-sensors.probes[0].offsets[0]} Y{(310/2)-sensors.probes[0].offsets[1]} F6000
G30
G1 X0 Y0

if global.MMUmode = true
	M98 P"0:/sys/MMU Control/homeMMU.g"

to

; homeall.g
; called to home all axes
;
; generated by RepRapFirmware Configuration Tool v3.2.0 on Tue Dec 29 2020 16:23:44 GMT+0200 (Eastern European Standard Time)

M98 P"homex.g"
M98 P"homey.g"
G1 H1 Z-405 F240			; move Z down stopping at the endstop

G90							; absolute positioning
G1 Z5
G1 X{(310/2)-sensors.probes[0].offsets[0]} Y{(310/2)-sensors.probes[0].offsets[1]} F6000
G30
G1 X0 Y0

if global.MMUmode = true
	M98 P"0:/sys/MMU Control/homeMMU.g"

Is an improvement, still shifted but way less then before

From left to right: No skew compensation, in homeall.g homing both X and Y at the same time and the last is calling independent macros in homeall.g
The shift is reduced from 2mm to 1mm

Update: if during a pause I rehome X or Y the print resume at the right position

droftarts

@Leonard03 Okay, thanks for testing! Back to the drawing board...

Ian

Leonard03

@droftarts sorry...

droftarts

@Leonard03 Are you still using RRF 3.6.0-rc3+2 firmware?

Ian

Leonard03

@droftarts Yes, 3.6.0-rc.3+2 (2025-05-19 11:46:09)

dc42

@Leonard03 please try this firmware.

Duet2CombinedFirmware.bin

Leonard03

@dc42 Thank you very much! I confirm that this issue is solved! Works very ewll
Also, thank you to everyone for every input and all the support !