Auto Delta Calibration Odd Behavior
-
@bricor said in Auto Delta Calibration Odd Behavior:
Calibrated 7 factors using 7 points, deviation before 0.249 after 1.257
I agree, that's very odd behaviour! Auto calibration is saying that it made matters worse.
Please restart the Duet, connect a PC running Pronterface/YAT/etc. via USB, send M111 S1 P4 to enable Move debugging, then run auto calibration. Report the debug output from the PC here.
-
I'll setup terminal and get back to you.
I deleted config-overide rebooted and ran auto calibrate again
This is the result
Calibrated 7 factors using 7 points, deviation before 1.030 after nan
One more tidbit, I was successful performing multiple Auto Calibrations using a BLTouch clone. I stopped using it since it had inconsistent results, (thats why I bought the DUET IR)
I believe I was on 2.02RC2 but not sure. -
I have one other report of auto calibration producing 'nan' values. I believe these are generated when one or more probe points are not reachable using the current M665 parameters (even when one set of arms becomes horizontal), typically because the delta radius has been set incorrectly, or simply because when the bed.g file was generated, the probing radius was set too high (taking account of any XY offset of the Z probe). The debug data may confirm that.
-
When you said ". Report the debug output from the PC here" is that from terminal?
YAT is not displaying much.
Debugging enabled for modules: Move(4)<LF>Debugging disabled for modules: Platform(0) Network(1) Webserver(2) GCodes(3) Heat(5) DDA(6) Roland(7) Scanner(8) PrintMonitor(9) Storage(10) PortControl(11) DuetExpansion(12) FilamentSensors(13) WiFi(14) Display(15)<LF>ok<LF>RepRapFirmware for Duet 2 WiFi/Ethernet Version 2.02RC4(RTOS) dated 2018-11-18b5<LF><LF>Executing config.g...HTTP is enabled on port 80<LF>FTP is disabled<LF>TELNET is disabled<LF>Warning: Macro file config-override.g not found.<LF><LF>Done!<LF>RepRapFirmware for Duet 2 WiFi/Ethernet is up and running.<LF>WiFi module started<LF>WiFi module is conne
I've been successful with the Delta Parameters that I've been using for some time. They deviate only slightly from manual calibration.
I tried a new bed.g probing set using 80mm probing radius. same result.
The IR Board is positioned Y-21 (21mm In front of the nozzle, with z tower to the rear). (hopefully I have that correct)
-
When you run auto calibration, it should produced a lot more output.
-
is there a parameter setting in YAT?
I've tried multiple times same result.
-
I swapped IR boards (Since I don't know what else to try and I have a spare), same results.
I did manage to get the diag info using Pronterface
Connecting...
Printer is now online.M111 S1 P4
SENDING:M111 S1 P4
Debugging enabled for modules: Move(4)
Debugging disabled for modules: Platform(0) Network(1) Webserver(2) GCodes(3) Heat(5) DDA(6) Roland(7) Scanner(8) PrintMonitor(9) Storage(10) PortControl(11) DuetExpansion(12) FilamentSensors(13) WiFi(14) Display(15)
Z probe offsets: -1.484 -0.935 -1.135 -0.586 -0.154 -0.354 0.486, mean -0.595, deviation from mean 0.612
Stops X0.000 Y0.000 Z0.000 height 316.200 diagonal 268.000 radius 138.000 xcorr 0.00 ycorr 0.00 zcorr 0.00 xtilt 0.000% ytilt 0.000%
Derivative matrix
0.0609 0.0609 0.8782 0.2582 0.0758 -0.0758 -1.0797
0.0686 0.7233 0.2080 0.4208 -0.0460 -0.1226 -1.1212
0.7234 0.0686 0.2080 0.4208 0.1226 0.0460 -1.1212
0.1587 0.1587 0.6825 0.4700 0.1002 -0.1002 -1.1347
0.1665 0.5013 0.3320 0.5574 -0.0318 -0.0898 -1.1556
0.5014 0.1665 0.3320 0.5575 0.0898 0.0318 -1.1556
0.2726 0.2726 0.4548 0.5849 0.0537 -0.0536 -1.1627
Normal matrix
0.9104 0.3694 0.6723 0.9555 0.1605 -0.0093 -2.2227 1.1394
0.3694 0.9102 0.6722 0.9553 0.0093 -0.1604 -2.2224 0.9413
0.6723 0.6722 1.7508 1.3588 0.1946 -0.1946 -3.4851 2.0816
0.9555 0.9553 1.3588 1.6054 0.1627 -0.1626 -3.7242 1.5288
0.1605 0.0093 0.1946 0.1627 0.0449 -0.0017 -0.4110 0.2683
-0.0093 -0.1604 -0.1946 -0.1626 -0.0017 0.0449 0.4108 -0.2102
-2.2227 -2.2224 -3.4851 -3.7242 -0.4110 0.4108 8.9900 -4.6103
Solved matrix
-2.2227 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 3316.2751
0.0000 -0.5408 0.0000 0.0000 0.0000 0.0000 0.0000 806.0934
0.0000 0.0000 0.6967 0.0000 0.0000 0.0000 0.0000 -1038.0209
0.0000 0.0000 0.0000 0.0510 0.0000 0.0000 0.0000 -19.4663
0.0000 0.0000 0.0000 0.0000 0.0019 0.0000 0.0000 -0.0262
0.0000 0.0000 0.0000 0.0000 0.0000 0.0015 0.0000 0.0314
0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 -0.0001
Solution: -1491.9964 -1490.4760 -1489.9205 -381.8478 -13.8789 21.5039 -1475.2585
Residuals: 0.0000 0.0000 0.0000 -0.0000 -0.0000 -0.0000 0.0000
Expected probe error: -2425.4219 -2439.0444 -2440.5215 -2440.8616 -2443.4946 -2443.7583 -2444.4780
Derivative matrix
-0.1685 -0.2423 1.4087 0.2783 -0.2399 0.3497 0.9692
0.1227 0.9259 -0.0500 -0.0684 -0.0488 0.0836 1.0065
0.8765 0.1062 0.0171 -0.0848 -0.0232 0.0336 1.0089
0.0531 0.0055 0.9418 -0.0299 0.0421 -0.0043 1.0028
0.2051 0.5981 0.1959 -0.1746 -0.0110 -0.0555 1.0175
0.5792 0.1904 0.2301 -0.1782 0.0708 0.0018 1.0175
0.2802 0.2667 0.4523 -0.1825 0.0793 -0.0757 1.0187
Normal matrix
1.2705 0.5555 0.1217 -0.3214 0.0773 -0.0510 1.9811 4760.7002
0.5555 1.3925 -0.0991 -0.3269 0.0388 -0.0568 1.8837 4522.1376
0.1217 -0.0991 3.1700 0.2081 -0.2462 0.4403 3.1708 7781.6607
-0.3214 -0.3269 0.2081 0.1858 -0.0879 0.1121 -0.4595 -1079.9139
0.0773 0.0388 -0.2462 -0.0879 0.0737 -0.0942 -0.1211 -314.5505
-0.0510 -0.0568 0.4403 0.1121 -0.0942 0.1393 0.3210 807.4441
1.9811 1.8837 3.1708 -0.4595 -0.1211 0.3210 7.0841 17178.3176
Solved matrix
1.9811 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 2443.6416
0.0000 0.8643 0.0000 0.0000 0.0000 0.0000 0.0000 1067.7703
0.0000 0.0000 2.7297 0.0000 0.0000 0.0000 0.0000 3374.5799
0.0000 0.0000 0.0000 0.0632 0.0000 0.0000 0.0000 5.3086
0.0000 0.0000 0.0000 0.0000 0.0047 0.0000 0.0000 0.0108
0.0000 0.0000 0.0000 0.0000 0.0000 -0.0074 0.0000 -0.0401
0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 -0.0000 -0.0013
Solution: 1233.4769 1235.3774 1236.2498 83.9775 2.3079 5.3981 1203.3699
Residuals: 2423.9380 2438.1091 2439.3862 2440.2751 2443.3408 2443.4045 2444.9639
Expected probe error: nan nan nan nan nan nan nan
Stops X-2.756 Y0.664 Z2.092 height nan diagonal -3.889 radius -159.870 xcorr -11.57 ycorr 26.90 zcorr 0.00 xtilt 0.000% ytilt 0.000%
Disconnected. -
I looked through the diag data and I don't know what I'm looking for and I really can't make sense of any of it.
I've tried all that I can, I keep getting erratic results. Really far out numbers.
Before:
Diagonal 268.000, delta radius 138.000, homed height 316.200, bed radius 110.0, X 0.000°, Y 0.000°, Z 0.000°Calibrated 7 factors using 7 points, deviation before 0.833 after 0.880
After:
Diagonal 621.396, delta radius 205.951, homed height 316.909, bed radius 110.0, X 5.334°, Y -1.442°, Z 0.000°I'm going to manually calibrate so I can get it back in service.
-
@bricor said in Auto Delta Calibration Odd Behavior:
is there a parameter setting in YAT?
I've tried multiple times same result.
Ah I see the problem. YAT isn't recognising LF as the line ending character, so it's putting everything on one line, and truncating it. In YAT, go to Terminal/Settings/Text Settings and change the EOL sequence to <LF>.
-
The data looks to be about the same as I posted from Pronterface. You might have missed my posts after the YAT question.
M111 S1 P4<CR>
Debugging enabled for modules: Move(4)
Debugging disabled for modules: Platform(0) Network(1) Webserver(2) GCodes(3) Heat(5) DDA(6) Roland(7) Scanner(8) PrintMonitor(9) Storage(10) PortControl(11) DuetExpansion(12) FilamentSensors(13) WiFi(14) Display(15)
ok
Z probe offsets: 0.591 1.065 -0.610 1.376 1.659 0.696 2.048, mean 0.975, deviation from mean 0.804
Stops X0.000 Y0.000 Z0.000 height 316.200 diagonal 268.000 radius 138.000 xcorr 0.00 ycorr 0.00 zcorr 0.00 xtilt 0.000% ytilt 0.000%Derivative matrix
0.0609 0.0609 0.8782 0.2582 0.0758 -0.0758 -1.0797
0.0686 0.7233 0.2080 0.4208 -0.0460 -0.1226 -1.1212
0.7234 0.0686 0.2080 0.4208 0.1226 0.0460 -1.1212
0.1587 0.1587 0.6825 0.4700 0.1002 -0.1002 -1.1347
0.1665 0.5013 0.3320 0.5574 -0.0318 -0.0898 -1.1556
0.5014 0.1665 0.3320 0.5575 0.0898 0.0318 -1.1556
0.2726 0.2726 0.4548 0.5849 0.0537 -0.0536 -1.1627
Normal matrix
0.9104 0.3694 0.6723 0.9555 0.1605 -0.0093 -2.2227 -1.0699
0.3694 0.9102 0.6722 0.9553 0.0093 -0.1604 -2.2224 -2.4886
0.6723 0.6722 1.7508 1.3588 0.1946 -0.1946 -3.4851 -3.2662
0.9555 0.9553 1.3588 1.6054 0.1627 -0.1626 -3.7242 -3.5016
0.1605 0.0093 0.1946 0.1627 0.0449 -0.0017 -0.4110 -0.1787
-0.0093 -0.1604 -0.1946 -0.1626 -0.0017 0.0449 0.4108 0.5781
-2.2227 -2.2224 -3.4851 -3.7242 -0.4110 0.4108 8.9900 7.8125
Solved matrix
-2.2227 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 2889.3218
0.0000 -0.5408 0.0000 0.0000 0.0000 0.0000 0.0000 703.4698
0.0000 0.0000 0.6967 0.0000 0.0000 0.0000 0.0000 -905.9999
0.0000 0.0000 0.0000 0.0510 0.0000 0.0000 0.0000 -17.0178
0.0000 0.0000 0.0000 0.0000 0.0019 0.0000 0.0000 -0.0241
0.0000 0.0000 0.0000 0.0000 0.0000 0.0015 0.0000 0.0292
0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 -0.0001
Solution: -1299.9096 -1300.7239 -1300.4244 -333.8168 -12.7325 19.9704 -1285.9941
Residuals: 0.0000 0.0000 0.0000 -0.0000 -0.0000 -0.0000 0.0000
Expected probe error: -2035.5796 -2058.8149 -2060.0117 -2059.7983 -2066.9802 -2067.0186 -2068.2925
Derivative matrix
-0.2682 -0.3717 1.6391 0.5011 -0.3729 0.5194 0.9479
0.0476 1.0614 -0.1086 0.0183 -0.0201 0.0952 0.9979
1.0260 0.0049 -0.0323 0.0134 -0.0232 0.0018 0.9985
-0.0183 -0.0989 1.1163 0.0616 -0.0140 0.0763 0.9943
0.1587 0.6494 0.1935 -0.1501 -0.0122 -0.0500 1.0150
0.6519 0.1141 0.2325 -0.1453 0.0732 0.0055 1.0144
0.2643 0.2197 0.5164 -0.1654 0.0696 -0.0562 1.0162
Normal matrix
1.6472 0.3926 -0.1797 -0.2831 0.1397 -0.1535 1.8904 3849.8519
0.3926 1.7576 -0.5695 -0.3233 0.1342 -0.1438 1.6117 3267.6931
-0.1797 -0.5695 4.3038 0.7395 -0.5734 0.8887 3.4799 7294.1970
-0.2831 -0.3233 0.7395 0.3264 -0.2087 0.2828 0.1001 259.6438
0.1397 0.1342 -0.5734 -0.2087 0.1506 -0.1996 -0.2781 -607.2070
-0.1535 -0.1438 0.8887 0.2828 -0.1996 0.2904 0.5627 1206.0157
1.8904 1.6117 3.4799 0.1001 -0.2781 0.5627 6.9720 14385.6735
Solved matrix
1.8904 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 1050.4940
0.0000 1.4229 0.0000 0.0000 0.0000 0.0000 0.0000 788.1418
0.0000 0.0000 4.2567 0.0000 0.0000 0.0000 0.0000 2365.7897
0.0000 0.0000 0.0000 0.1409 0.0000 0.0000 0.0000 15.9871
0.0000 0.0000 0.0000 0.0000 0.0099 0.0000 0.0000 0.1313
0.0000 0.0000 0.0000 0.0000 0.0000 0.0095 0.0000 0.0006
0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 -0.0000 -0.0013
Solution: 555.6917 553.9042 555.7788 113.4557 13.2953 0.0585 1506.1367
Residuals: 2036.1707 2059.8796 2059.4016 2061.1743 2068.6389 2067.7148 2070.3408
Expected probe error: -898.2925 -955.3685 -954.5236 -952.5867 -987.6226 -982.6718 -989.0720
Stops X1.010 Y-1.592 Z0.582 height -680.433 diagonal 488.143 radius -82.361 xcorr 0.56 ycorr 20.03 zcorr 0.00 xtilt 0.000% ytilt 0.000% -
The matrix is numerically unstable (the diagonal element of the last row of the solved matrix is showing as zero). Try 6-factor calibration instead of 7. That's S6 on the final G30 command in bed.g instead of S7.
-
6 Factor seems to have made it work
I ran the calibration and it was finally successful running multiple passes. The printer is cold and in need of a full calibration (i gave up last night/early am in the middle of manual calibration) but the results are good.
3 passes in a row
:17:39 PMM665
Diagonal 268.000, delta radius 133.271, homed height 314.718, bed radius 110.0, X 1.334°, Y 0.015°, Z 0.000°
12:17:35 PMG32
Calibrated 6 factors using 7 points, deviation before 0.041 after 0.017
12:16:32 PMG32
Calibrated 6 factors using 7 points, deviation before 0.155 after 0.034
12:15:38 PMM665
Diagonal 268.000, delta radius 132.043, homed height 314.423, bed radius 110.0, X 1.683°, Y -1.559°, Z 0.000°
12:15:32 PMG32
Calibrated 6 factors using 7 points, deviation before 1.261 after 0.139
12:14:35 PMM665
Diagonal 268.000, delta radius 138.000, homed height 316.200, bed radius 110.0, X 0.000°, Y 0.000°, Z 0.000°4th & 5th pass 10 Point -
12:46:03 PMM665
Diagonal 268.000, delta radius 132.788, homed height 314.692, bed radius 110.0, X 1.361°, Y 0.113°, Z 0.000°
12:43:50 PMG28
12:36:22 PMG32
Calibrated 6 factors using 10 points, deviation before 0.121 after 0.038
12:35:10 PMM665
Diagonal 268.000, delta radius 132.290, homed height 314.515, bed radius 110.0, X 1.037°, Y -0.048°, Z 0.000°
12:35:04 PMG32
Calibrated 6 factors using 10 points, deviation before 1.096 after 0.126YAT diag data (pass 5)
M111 S1 P4
Debugging enabled for modules: Move(4)
Debugging disabled for modules: Platform(0) Network(1) Webserver(2) GCodes(3) Heat(5) DDA(6) Roland(7) Scanner(8) PrintMonitor(9) Storage(10) PortControl(11) DuetExpansion(12) FilamentSensors(13) WiFi(14) Display(15)
ok
Z probe offsets: -0.087 0.009 0.012 0.002 -0.049 0.050 0.085, mean 0.003, deviation from mean 0.053
Stops X1.561 Y-0.472 Z-1.089 height 314.718 diagonal 268.000 radius 133.271 xcorr 1.33 ycorr 0.01 zcorr 0.00 xtilt 0.000% ytilt 0.000%Derivative matrix
0.0555 0.0552 0.8892 0.2258 0.0645 -0.0645
0.0632 0.7298 0.2071 0.3908 -0.0406 -0.1187
0.7304 0.0556 0.2141 0.3907 0.1297 0.0351
0.1548 0.1533 0.6919 0.4407 0.0917 -0.0917
0.1632 0.5023 0.3346 0.5294 -0.0308 -0.0862
0.5045 0.1570 0.3385 0.5294 0.0899 0.0284
0.2711 0.2677 0.4612 0.5571 0.0502 -0.0502
Normal matrix
0.9191 0.3473 0.6764 0.8954 0.1639 -0.0130 -0.0452
0.3473 0.9109 0.6629 0.8851 0.0073 -0.1546 -0.0088
0.6764 0.6629 1.7974 1.2836 0.1835 -0.1802 0.0316
0.8954 0.8851 1.2836 1.4215 0.1491 -0.1462 -0.0377
0.1639 0.0073 0.1835 0.1491 0.0426 -0.0005 -0.0061
-0.0130 -0.1546 -0.1802 -0.1462 -0.0005 0.0386 -0.0061
Solved matrix
0.9191 0.0000 0.0000 0.0000 0.0000 0.0000 0.4568
0.0000 0.7797 0.0000 0.0000 0.0000 0.0000 -0.1543
0.0000 0.0000 1.0869 0.0000 0.0000 0.0000 0.2634
0.0000 0.0000 0.0000 0.0600 0.0000 0.0000 -0.0196
0.0000 0.0000 0.0000 0.0000 0.0018 0.0000 -0.0036
0.0000 0.0000 0.0000 0.0000 0.0000 0.0014 -0.0013
Solution: 0.4969 -0.1979 0.2423 -0.3264 -1.9328 -0.9136
Residuals: 0.0055 0.0053 0.0053 -0.0209 -0.0205 -0.0205 0.0458
Expected probe error: 0.0164 0.0035 0.0127 -0.0181 -0.0233 -0.0197 0.0442
Derivative matrix
0.0471 0.0601 0.8929 0.2177 0.0554 -0.0708
0.0635 0.7277 0.2088 0.3941 -0.0392 -0.1179
0.7340 0.0611 0.2049 0.3846 0.1203 0.0392
0.1485 0.1576 0.6939 0.4360 0.0894 -0.0950
0.1623 0.5028 0.3349 0.5293 -0.0283 -0.0860
0.5054 0.1617 0.3329 0.5259 0.0880 0.0300
0.2688 0.2711 0.4601 0.5548 0.0515 -0.0508
Normal matrix
0.9211 0.3535 0.6551 0.8832 0.1554 -0.0086 -0.0058
0.3535 0.9142 0.6744 0.8937 0.0103 -0.1547 0.0015
0.6551 0.6744 1.7991 1.2656 0.1715 -0.1879 -0.0113
0.8832 0.8937 1.2656 1.4053 0.1417 -0.1461 -0.0038
0.1554 0.0103 0.1715 0.1417 0.0383 -0.0006 -0.0019
-0.0086 -0.1547 -0.1879 -0.1461 -0.0006 0.0403 0.0002
Solved matrix
0.9211 0.0000 0.0000 0.0000 0.0000 0.0000 -0.0229
0.0000 0.7785 0.0000 0.0000 0.0000 0.0000 -0.0037
0.0000 0.0000 1.1034 0.0000 0.0000 0.0000 -0.0206
0.0000 0.0000 0.0000 0.0608 0.0000 0.0000 0.0019
0.0000 0.0000 0.0000 0.0000 0.0019 0.0000 0.0000
0.0000 0.0000 0.0000 0.0000 0.0000 0.0014 0.0000
Solution: -0.0248 -0.0047 -0.0187 0.0318 0.0189 0.0100
Residuals: -0.0980 0.0104 0.0043 -0.0005 -0.0458 0.0496 0.0870
Expected probe error: 0.0055 0.0052 0.0053 -0.0209 -0.0205 -0.0205 0.0458
Stops X1.869 Y-0.839 Z-1.029 height 314.714 diagonal 268.000 radius 132.977 xcorr -0.58 ycorr -0.89 zcorr 0.00 xtilt 0.000% ytilt 0.000% -
That's looking much better!
-
Is the answer to the issue, don't use 7 factor?
-
Yes, we don't recommend 7-factor calibration unless you can probe a lot of points including some that are between two towers and outside the normal print radius.
-
Thank you for your help once again. Issue solved.
