Solved: Delta probing with smart effector, skipping probe points



  • My config has some strange behaniour while performing delta calibration.
    It probes the first point 8 times, then skips some probing points, and continues with the rest of the points. Of the ten outer points, it only probes 6 of them.

    My config.g:

    ; Configuration file for Duet WiFi (firmware version 1.20 or newer)
    ; executed by the firmware on start-up
    ;
    ; generated by RepRapFirmware Configuration Tool on Thu Jun 07 2018 20:41:32 GMT+0200 (West-Europa (zomertijd))
    
    ; General preferences
    G90                                       ; Send absolute coordinates...
    M83                                       ; ...but relative extruder moves
    
    M665 L288.130:288.130:288.130:210 R139.757 H339.583 B117.5 X-0.324 Y-0.215 Z0.000
    M666 X-0.675 Y0.465 Z0.210 A-0.03 B0.18
    M669 X-120 Y-20
    
    ; Network
    M550 PKossel                              ; Set machine name
    M552 S1                                   ; Enable network
    ;*** Access point is configured manually via M587
    M586 P0 S1                                ; Enable HTTP
    M586 P1 S0                                ; Disable FTP
    M586 P2 S0                                ; Disable Telnet
    
    ; Drives
    M584 X0 Y1 Z2 U4 E3
    M569 P0 S0                                ; Drive 0 goes backwards
    M569 P1 S0                                ; Drive 1 goes backwards
    M569 P2 S0                                ; Drive 2 goes backwards
    M569 P3 S1                                ; Drive 3 goes forwards
    M569 P4 S0				  ; Drive 4 goes backwards (flying extruder)
    M350 X16 Y16 Z16 U16 E16 I1               ; Configure microstepping with interpolation
    M92 X200 Y200 Z200 U100 E405              ; Set steps per mm
    M566 X600 Y600 Z600 U600 E600      	  ; Set maximum instantaneous speed changes (mm/min)
    M203 X12000 Y12000 Z12000 U12000 E3600	  ; Set maximum speeds (mm/min)
    M201 X1500 Y1500 Z1500 U1500 E2000        ; Set accelerations (mm/s^2)
    M906 X1700 Y1700 Z1700 U1000 E1000 I30    ; Set motor currents (mA) and motor idle factor in per cent
    M84 S30                                   ; Set idle timeout
    
    ; Axis Limits
    M208 Z0 S1                                ; Set minimum Z
    
    ; Endstops
    M574 X2 Y2 Z2 U2 S1                       ; Set active high endstops
    
    ; Z-Probe
    M558 P8 R0.4 H10 B1 A4 F1200 T3000        ; Set Z probe type to effector and the dive height + speeds, heaters off during probing, multi probe max 10 times
    G31 P100 X0 Y0 Z0                         ; Set Z probe trigger value, offset and trigger height
    M557 R105 S35                             ; Define mesh grid
    
    ; Heaters
    M301 H0 S1.00 P10 I0.1 D200 T0.4 W180 B30   ; Use PID on bed heater (may require further tuning)
    M305 P0 T100000 B4725 C7.06e-8 R4700        ; Set thermistor + ADC parameters for heater 0
    M143 H0 S120                                ; Set temperature limit for heater 0 to 120C
    M305 P1 X201				    ; Set PT100 for heater 1
    M143 H1 S280                                ; Set temperature limit for heater 1 to 280C
    
    ; Fans
    M106 P0 S0 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                             ; 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
    M912 P0 S-10 				; CPU temperature calibration
    
    ; Miscellaneous
    T0                                      ; Select first tool
    ; G29 S1 				; Load heightmap
    ; M376 H5		        	; Set bed compensation taper
    M207 S1.5 R0 F2400 T1500 Z0		; Firmware retraction for PLA
    M572 D0 S0.15				; Pressure advance
    M501 					; Run config-override.g
    

    Bed.g:

    0:/sys/bed.g
    ; bed.g file for RepRapFirmware, generated by Escher3D calculator
    ; 16 points, 6 factors, probing radius: 110, probe offset (0, 0)
    G28
    G30 P0 X0.00 Y110.00 Z-99999 H0
    G30 P1 X70.71 Y84.26 Z-99999 H0
    G30 P2 X108.33 Y19.10 Z-99999 H0
    G30 P3 X95.26 Y-55.00 Z-99999 H0
    G30 P4 X37.62 Y-103.37 Z-99999 H0
    G30 P5 X-37.62 Y-103.37 Z-99999 H0
    G30 P6 X-95.26 Y-55.00 Z-99999 H0
    G30 P7 X-108.33 Y19.10 Z-99999 H0
    G30 P8 X-70.71 Y84.26 Z-99999 H0
    G30 P9 X0.00 Y55.00 Z-99999 H0
    G30 P10 X47.63 Y27.50 Z-99999 H0
    G30 P11 X47.63 Y-27.50 Z-99999 H0
    G30 P12 X0.00 Y-55.00 Z-99999 H0
    G30 P13 X-47.63 Y-27.50 Z-99999 H0
    G30 P14 X-47.63 Y27.50 Z-99999 H0
    G30 P15 X0 Y0 Z-99999 S6
    


  • Ok, I noticed the problem after changing the extruder offset for the 4th axis, M669.

    When I have: M669 X0 Y0, the probing is normal.
    When I change it to: M669 X-120 Y-20, the probing is weird.

    I have the M669 command in both config.g as in config-override.g

    Is this a bug. or did I misconfigure something?



  • It skips probe points in unreachable areas.



  • @Danal I inderstand that, but all points are reachable. How does extruder offset on the 4th axis influence this?



  • @bartolomeus Why are you specifying M669 this changes the kinematics scheme to something other than a delta?


  • Moderator



  • @Dougal1957 Because I am using a 4th axis for the xtruder. From the wiki:

    "You must specify the XY offsets of the extruder outputs on additional towers relative to machine centre in the M669 command, for example:

    M669 X150 Y100"

    Anyway, your answer did point me in the right direction. I think I've almost solved it.



  • Ok, solved. My M669 was wrong, it is X-100 Y20. Apparantly with Y-20, in combination with the specified 4th axis 'rod length', the probe points were out of reach. Thanks @Danal



  • @bartolomeus Glad you got it sorted it's not something I have tried so not looked to deeply into the M669 (I thought it was only for Cartesian Corey polar scare and any other custom Kinematic other than Delta)


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