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    Haq XY

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    • dc42undefined
      dc42 administrators @Haggan90
      last edited by dc42

      And it what way does G1 S1 X300 Y310 F2500 not work?

      Please provide your current homing files.

      Duet WiFi hardware designer and firmware engineer
      Please do not ask me for Duet support via PM or email, use the forum
      http://www.escher3d.com, https://miscsolutions.wordpress.com

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      • dc42undefined
        dc42 administrators
        last edited by dc42

        PS:

        1. Please clarify what you have in your M584 command in config.g, because it's not been rendered correctly in the config.g you listed a few posts ago.

        2. When you send

        G91 G1 S2 Y20

        in what directions do the Y, X and U axes move?

        Duet WiFi hardware designer and firmware engineer
        Please do not ask me for Duet support via PM or email, use the forum
        http://www.escher3d.com, https://miscsolutions.wordpress.com

        Haggan90undefined 1 Reply Last reply Reply Quote 0
        • Haggan90undefined
          Haggan90 @dc42
          last edited by

          @dc42 said in Haq XY:

          PS:

          1. Please clarify what you have in your M584 command in config.g, because it's not been rendered correctly in the config.g you listed a few posts ago.

          2. When you send

          G91 G1 S2 Y20

          in what directions do the Y, X and U axes move?

          1. M584 X0 U6 Y1 Z2:5 E3:4
          2. Y moves forward, X moves left (-) and U moves right(+)
          dc42undefined 1 Reply Last reply Reply Quote 0
          • wilrikerundefined
            wilriker
            last edited by wilriker

            Small aside: putting the contents of e.g. config.g in paired blocks of three backticks (```) will activate code-styling in the forum. This should prevent automatic emoji replacements.

            Manuel
            Duet 3 6HC (v0.6) with RPi 4B on a custom Cartesian
            with probably always latest firmware/DWC (incl. betas or self-compiled)
            My Tool Collection

            Haggan90undefined 1 Reply Last reply Reply Quote 1
            • Haggan90undefined
              Haggan90 @wilriker
              last edited by

              @wilriker Thank you very much!

              ; Drives						
              M584 X0 U6 Y1 Z2:5 E3:4				; set 3 Z drivers and add one U driver
              M569 P0 S1                                      ; Drive 0 goes forwards
              M569 P1 S1                                      ; Drive 1 goes forwards
              M569 P2 S0                                      ; Drive 2 goes backwards
              M569 P3 S1                                      ; Drive 3 goes forwards
              M569 P4 S1                                      ; Drive 4 goes forwards
              M569 P5 S0                                      ; Drive 5 goes backwards
              M569 P6 S1                                      ; Drive 6 goes forwards
              
              M669 K0 Y1:-1:0:-1				; set Y to react with X and U
              
              M350 U16 X16 Y16 Z16 E16:16 I1                      		; Configure microstepping with interpolation
              M92 U80.00 X80.00 Y240.00 Z1066.67 E420.00:420.00      		; Set steps per mm
              M566 U900.00 X900.00 Y900.00 Z12.00 E120.00:120.00      	; Set maximum instantaneous speed changes (mm/min)
              M203 U10000.00 X10000.00 Y10000.00 Z500.00 E1200.00:1200.00 	; Set maximum speeds (mm/min)
              M201 U800.00 X800.00 Y800.00 Z20.00 E250.00:250.00      	; Set accelerations (mm/s^2)
              M906 U1000.00 X1000.00 Y1000.00 Z1000.00 E800.00:800.00 I30 	; Set motor currents (mA) and motor idle factor in per cent
              M84 S30                                         		; Set idle timeout
              
              ; Axis Limits
              M208 U0 X0 Y0 Z0 S1                          ; Set axis minima
              M208 U540 X540 Y550 Z750 S0                  ; Set axis maxima
              
              ; Endstops
              M574 U2 S0					; Set active low endstops
              M574 X1 Y2 S1                               	; Set active high endstops
              
              ; Z-Probe
              M574 Z1 S2 					; Define Z to use Probe. Home to Min.
              M558 P9 H5 F500 T4000				; Set Z probe type/mode 9.
              G31 P25 X0 Y-57.3 Z0.0 				; Z probe trigger value, offset in relation to nozzle. And trigger height adjustment
              M557 X40:490 Y70:480 S50			; define mesh grid
              
              ; BLTouch - Heaters
              M307 H3 A-1 C-1 D-1 				; Disable the 2nd Heater to free up PWM channel 1 on the Duex board
              
              ; Heaters
              M305 P0 T100000 B4138 R4700                     ; Set thermistor + ADC parameters for heater 0
              M143 H0 S120                                    ; Set temperature limit for heater 0 to 120C
              M305 P1 T100000 B4138 R4700                     ; Set thermistor + ADC parameters for heater 1
              M143 H1 S280                                    ; Set temperature limit for heater 1 to 280C
              .
              
              ; Fans
              M106 P0 S0.3 I0 F500 H-1                        ; Set fan 0 value, PWM signal inversion and frequency. Thermostatic control is turned off
              M106 P1 S1 I0 F500 H1 T45                       ; Set fan 1 value, PWM signal inversion and frequency. Thermostatic control is turned on
              
              ; Tools
              M563 P0 D0 H1 F0                                ; tool 0 uses extruder 0 and heater 1
              G10 P0 X0 Y0 Z0 R0 S0                           ; set tool 0 offsets and temperatures
              
              M563 P1 D1 H2 X3 F2                             ; tool 1 uses extruder 1 and heater 2 and maps X to U, use fan 2 as the print cooling fan
              G10 P1 X0 Y0 Z0 R0 S0                           ; set tool 0 offsets and temperatures
              
              ; Automatic saving after power loss is not enabled
              
              ; Custom settings are not configured
              
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              • dc42undefined
                dc42 administrators @Haggan90
                last edited by dc42

                @haggan90 said in Haq XY:

                Y moves forward, X moves left (-) and U moves right(+)

                Please elaborate on "Y moves forwards". Do you mean that the carriage moves towards you (in the -Y direction), or away from you (in the +Y direction)?

                I think I've just found a bug that may explain some of the homing issues. Also I think your matrix is wrong.

                Duet WiFi hardware designer and firmware engineer
                Please do not ask me for Duet support via PM or email, use the forum
                http://www.escher3d.com, https://miscsolutions.wordpress.com

                Haggan90undefined 1 Reply Last reply Reply Quote 0
                • Haggan90undefined
                  Haggan90 @dc42
                  last edited by Haggan90

                  @dc42 Huh, it actually move towards me, in the -Y direction!
                  I tried to push the <Y-10 afterwards and both U and X moved superfast (like 400mm/s) at diffrent direction, around 50mm. X at - and U at +.

                  Why do you think the matrix is wrong?
                  It works just as it should work when using the toggle buttons (or what they are called at the "Machine Control")

                  dc42undefined 1 Reply Last reply Reply Quote 0
                  • dc42undefined
                    dc42 administrators @Haggan90
                    last edited by

                    @haggan90, I think the matrix may be unconventional, but valid. To make it conventional, you could change S1 to S0 in your M569 P1 line (to reverse Y motor direction), and change the M669 command to:

                    M669 K0 Y-1:1:0:1

                    Your X and U axes appear to be affected by the Y motor in opposite directions, so I guess you have one of those carriages attached to the front of the its belt and the other one to the back of its belt, or something like that. But it doesn't matter, as long as all the axes move correctly in response to the jog commands.

                    I've implemented a fix for the bug that I think I found, however I also want to fix it so that if you try to move X or U, it also energises the Y motor to lock it; and if you do a diagonal homing move then it energises the X and U motors to lock them. So I'll implement that tomorrow, test G29, then make a new binary available.

                    Meanwhile, I think most things should work if you home the axes individually, doing Y before X and U.

                    Duet WiFi hardware designer and firmware engineer
                    Please do not ask me for Duet support via PM or email, use the forum
                    http://www.escher3d.com, https://miscsolutions.wordpress.com

                    Haggan90undefined 1 Reply Last reply Reply Quote 0
                    • Haggan90undefined
                      Haggan90 @dc42
                      last edited by

                      @dc42 I just reversed the Y motor and when I do G1 X10 F1000 S2 the Y axis moves in the right direction (+10).
                      But I've noticed a new thing when homing.
                      This is my homeall.g now:

                      G91 				; relative positioning
                      G1 Z5 F6000 S2 			; lift Z relative to current position
                      G1 S1 Y550 U540 X-540 F2500 	; move quickly to Y axis endstops and stop there (first pass)
                      G1 S1 Y550 F2500		; Home Y seperate
                      G1 S1 X-540 F2500		; Home X seperate
                      G1 S1 U540 F2500		; Home U seperate
                      G1 Y-5 X5 U-5 F2000		; Go back 5mm on all axis
                      G1 S1 Y550 F600			; slowly home Y
                      G1 S1 X-100 F600		; Slowly home X
                      G1 S1 U100 F600			; Slowly home U
                      
                      G90				; absolute positioning
                      
                      G1 X300 Y310 F2500        	; go to first bed probe point and home Z
                      G30                     	; home Z by probing the bed
                      G91                    		; relative positioning
                      G1 S2 Z5 F100          		; lift Z relative to current position
                      G90                    		; absolute positioning
                      
                      

                      But when it comes to G1 X300 Y310 F2500 the X axis just smashes into it's endstop.
                      It seems like both U and X looses their position somehow, or that X and U switches...so X becomes U and U becomes X.

                      If I manually home Y first and then try to home X the U axis moves.
                      If I manually home U and X first, their postion is X0 U550.
                      If I then home Y manually X position is X1100.3 and U is U-560.

                      Does this make any sense at all?

                      MaxGyverundefined 1 Reply Last reply Reply Quote 0
                      • dc42undefined
                        dc42 administrators
                        last edited by

                        I've found a bug in the optimisation of the kinematics calculations. I have just fixed this and my initial tests seem OK. I'd like to run more tests, but it's late now so I will continue this tomorrow. If you want to try the latest binary, it's at https://www.dropbox.com/s/fyvibzm0zl92hiy/Duet2CombinedFirmware.bin?dl=0.

                        Duet WiFi hardware designer and firmware engineer
                        Please do not ask me for Duet support via PM or email, use the forum
                        http://www.escher3d.com, https://miscsolutions.wordpress.com

                        Haggan90undefined 1 Reply Last reply Reply Quote 0
                        • Haggan90undefined
                          Haggan90 @dc42
                          last edited by

                          @dc42
                          I can't wait to try this when I get home from work!
                          Did you test the G29 in your test rig?

                          dc42undefined 1 Reply Last reply Reply Quote 0
                          • dc42undefined
                            dc42 administrators @Haggan90
                            last edited by dc42

                            @haggan90 said in Haq XY:

                            @dc42
                            I can't wait to try this when I get home from work!
                            Did you test the G29 in your test rig?

                            Not yet, but I hope to get the tests completed this afternoon.

                            The previous firmware got the positions wrong after homing. It was confusing to debug, because your original M669 command results in a matrix whose inverse was identical to itself! So for some time I thought that the matrix inversion code wasn't working.

                            Duet WiFi hardware designer and firmware engineer
                            Please do not ask me for Duet support via PM or email, use the forum
                            http://www.escher3d.com, https://miscsolutions.wordpress.com

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                            • dc42undefined
                              dc42 administrators
                              last edited by

                              I just did some more tests including G29. It looks to me that it is working properly.

                              Duet WiFi hardware designer and firmware engineer
                              Please do not ask me for Duet support via PM or email, use the forum
                              http://www.escher3d.com, https://miscsolutions.wordpress.com

                              Haggan90undefined 1 Reply Last reply Reply Quote 0
                              • Haggan90undefined
                                Haggan90 @dc42
                                last edited by

                                @dc42 Great job! It seems to be working now, only updated the firmware and homing + G29 worked straight away! 😄

                                dc42undefined 1 Reply Last reply Reply Quote 0
                                • dc42undefined
                                  dc42 administrators @Haggan90
                                  last edited by

                                  @haggan90, thanks for confirming. I'm sorry it took so long to get it right. They say "premature optimisation is the root of all evil!" and I think there is some truth in that.

                                  Duet WiFi hardware designer and firmware engineer
                                  Please do not ask me for Duet support via PM or email, use the forum
                                  http://www.escher3d.com, https://miscsolutions.wordpress.com

                                  Haggan90undefined 1 Reply Last reply Reply Quote 0
                                  • Haggan90undefined
                                    Haggan90 @dc42
                                    last edited by

                                    @dc42 No problem at all, I'm just thankfull for all the help 😃

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                                    • Visionaryundefined
                                      Visionary
                                      last edited by

                                      Can Haq XY-kinematics be used with RRF3/6HC mainboard?
                                      I'm planning on changing from 3-axis (x,y,z) Corexy to Haq XY (x,u,y,z) but I need to be sure there is a working firmware for it. I use 6HC mainboard in my machine so I assume I cannot use binary posted several post above.

                                      Main printer: 3-5 Axis, 400x400x450 Duet 6HC || https://grabcad.com/eetu-4/models

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                                      • dc42undefined
                                        dc42 administrators
                                        last edited by

                                        Yes, RepRapFirmware supports any kinematics for which the movement of each axis is a linear combination of the movement of the motors.

                                        Duet WiFi hardware designer and firmware engineer
                                        Please do not ask me for Duet support via PM or email, use the forum
                                        http://www.escher3d.com, https://miscsolutions.wordpress.com

                                        1 Reply Last reply Reply Quote 0
                                        • RootCNCundefined
                                          RootCNC
                                          last edited by

                                          Hi everyone,

                                          Are you able to share how you set this up? I'm currently knew to RepRap Firmware, as I'm a long time user of Marlin but due to the fact Marlin doesn't support this type of configuration. I'm currently looking to move over to RepRap Firmware and purchase a Duet 3 6HC board.

                                          I've actually already built this printer, photos attached. Its still got a little bit of work todo and due to the nature of Duet, Reprap and the open source community I intend to share this project among my other projects (Root CNC).

                                          I would much appreciate any help on configuring this type of kinematics as it looks like I'll be taking a big leap into the world of duet and RepRap firmware and I hope it'll soften the blow.

                                          appreciate the help!20210110_195329.jpg 20210110_211426.jpg 20210111_214253.jpg

                                          Thanks in advance! Pete from Root CNC

                                          Haggan90undefined 1 Reply Last reply Reply Quote 0
                                          • Haggan90undefined
                                            Haggan90 @RootCNC
                                            last edited by

                                            @RootCNC Hi,

                                            Sure I can share how to set it up.
                                            But I'm having a hard time understanding how you route your belts to make it a Haq-XY kinematics?

                                            RootCNCundefined 1 Reply Last reply Reply Quote 0
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