Delta X,Y,Z towers anomalies



  • Hello,

    I have the Duet2Wifi installed in the delta frame of an Anycubic Kossel Linear Plus (i.e., 680 mm tall towers, base and top triangles with 300 mm sides, and 240 mm bed diameter). I also have the Delta Smart Effector with 288.14 mm Haydn Magball rods. I have mechanical active high endstops at the towers' tops. X,Y,Z and E0 motors are configured as "forward".

    Duet hardware is 1.02 and the installed firmware is 2.03.

    Problem:

    Every time I restart the machine, the web interface has yellow Home buttons (message below says "The following axes are not homed: X, Y, Z"). I click the Home All button, the X,Y,Z towers do the home movement up to the top, then the "The following axes are not homed: X, Y, Z" message disappears. Now, I try to individually move each carriage up or down 5 mm (using the "Machine Control" screen in the web interface). This is where the weird stuff happens.

    • Try to move X down 10 m, but this happens: X goes up about 5 mm, Y goes down 5 mm, Z does not move.
    • repeat the Home All procedure
    • Try to move Y down 10 mm, but this happens: X goes down 5 mm, Y goes up 5 mm, Z does not move
    • repeat the Home All procedure
    • Try to move Z down 25 mm, but this happens: X and Y and Z, all move down at the same time 25 mm.

    After each movement listed above, I cannot do anything else until I repeat the Home All procedure, otherwise the message "G0/G1 target position not reachable from current position" appears.

    Here is my config.g

    ; Configuration file for Duet WiFi (firmware version 1.21)
    ; executed by the firmware on start-up
    ;
    ; generated by RepRapFirmware Configuration Tool v2 on Mon Jul 08 2019 20:18:54 GMT+0300 (Eastern European Summer Time)

    ; General preferences
    G90 ; Send absolute coordinates...
    M83 ; ...but relative extruder moves
    M665 R136.7 L288.143 B110 H200 ; Set delta radius, diagonal rod length, printable radius and homed height
    M666 X0 Y0 Z0 ; Put your endstop adjustments here, or let auto calibration find them

    ; Network
    M550 P"xxxxxxxxxxxxx" ; Set machine name
    M552 S1 ; Enable network
    M587 S"xxxxxxxxxxxxxxxxxx" P"xxxxxxxxxxxxx" ; Configure access point. You can delete this line once connected
    M586 P0 S1 ; Enable HTTP
    M586 P1 S0 ; Disable FTP
    M586 P2 S0 ; Disable Telnet

    ; Drives
    M569 P0 S1 ; Physical drive 0 goes forwards
    M569 P1 S1 ; Physical drive 1 goes forwards
    M569 P2 S1 ; Physical drive 2 goes forwards
    M569 P3 S1 ; Physical drive 3 goes forwards
    M350 X16 Y16 Z16 E16 I1 ; Configure microstepping with interpolation
    M92 X160.00 Y160.00 Z160.00 E145.51 ; Set steps per mm
    M566 X1200.00 Y1200.00 Z1200.00 E1200.00 ; Set maximum instantaneous speed changes (mm/min)
    M203 X18000.00 Y18000.00 Z18000.00 E1200.00 ; Set maximum speeds (mm/min)
    M201 X3000 Y3000 Z3000 E3000 ; Set accelerations (mm/s^2)
    M906 X1000.00 Y1000.00 Z1000.00 E800.00 I30 ; Set motor currents (mA) and motor idle factor in per cent
    M84 S30 ; Set idle timeout

    ; Axis Limits
    M208 Z-0.1 S1 ; Set minimum Z

    ; Endstops
    M574 X2 Y2 Z2 S1 ; Set active high endstops

    ; Z-Probe
    ; M558 P5 R0.4 H10 F1200 T2400 ; Set Z probe type to effector and the dive height + speeds
    M558 P8 R0.4 F1200 T6000 X0 Y0 Z0 H3 ; Z probe is a Smart Effector and is not used for homing any axes R0.4 not used. Reduced F300 to 100
    G31 P100 X0 Y0 Z-0.1 ; Set the zprobe height and threshold for Smart Effector
    M557 R110 S20 ; Define mesh grid

    ; Heaters
    M307 H0 B0 S1.00 ; Disable bang-bang mode for the bed heater and set PWM limit
    M305 P0 S"bed240mm" T85000 B3950 R4700 H30 L0
    M143 H0 S120 ; Set temperature limit for heater 0 to 120C
    M305 P1 S"nozzle" X200 ; Configure PT100 for heater 1
    M143 H1 S240 ; Set temperature limit for heater 1 to 240C

    M570 S180 ; Hot end may be a little slow to heat up so allow it 180 seconds

    M307 H0 A135.0 C793.3 D0.9 S1.00 V23.8 B0
    M307 H1 A622.9 C269.7 D5.6 S1.00 V23.8 B0

    ; Fans
    M106 P0 S0 I0 F500 H1 T45 ; Set fan 0 value, PWM signal inversion and frequency. Thermostatic control is turned on

    ; Tools
    M563 P0 D0 H1 ; 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

    ; Automatic saving after power loss is not enabled

    ; Custom settings are not configured

    ; Miscellaneous
    M501 ; Load saved parameters from non-volatile memory
    T0 ; Select first tool

    Please can anyone help me make this Duet board behave.

    Thank you



  • @mihaitintea said in Delta X,Y,Z towers anomalies:

    Try to move X down 10 m, but this happens: X goes up about 5 mm, Y goes down 5 mm, Z does not move.
    repeat the Home All procedure
    Try to move Y down 10 mm, but this happens: X goes down 5 mm, Y goes up 5 mm, Z does not move
    repeat the Home All procedure
    Try to move Z down 25 mm, but this happens: X and Y and Z, all move down at the same time 25 mm.

    The X/Y/Z controls in the machine control section refer to build space coordinates, not to the towers themselves.

    So it is nothing but expected that issuing "Z down 25mm" will of course result in all carriages moving down by 25mm.
    Same goes for movements in X and Y directions - the all are combinations of moving the three tower carriages of the delta printer.

    Why would you need to move a single carriage (except for testing purposes, which can be achieved by G1 S2 commands - see https://duet3d.dozuki.com/Wiki/Test_axes_or_motors_individually)

    hth
    Andreas



  • Hello

    That was right. Moving individually works correctly.

    One more question, though. Please can you tell your opinion on why do I see the message "The following axes are not homed: X, Y, Z" after every restart, given the control.g file with the code listed above ?

    Thanks again,
    Mihai



  • @mihaitintea said in Delta X,Y,Z towers anomalies:

    Please can you tell your opinion on why do I see the message "The following axes are not homed: X, Y, Z" after every restart, given the control.g file with the code listed above ?

    This is correct behavior. If the machine is restarted, it does not "know" where any tower/carriages are. It has to home them, and keep track after that.

    Here is my Delta, immediately after a restart:

    0_1562858229183_7ea8e013-3017-45e8-b291-adaa012503e4-image.png



  • Also note that any of the four home buttons (ALL, X, Y, Z) will have the same result on a Delta... all three towers will home... the separation of buttons is really for Cartesian printers.


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