Hypercube Fusion movement help

[Phaedrux]

Maybe. It may help to know how the phases are wired at the plug.

[RAM]

@Phaedrux here you go hopefully this will help. 17HS15-1504S-X1.pdf
I never even gave this a thought when I was plugging in the motor connectors I think they could be wrong from looking at the pdf and the duet 2 wifi wiring diagram.
In true bonehead fashion I was looking where the black wire was to which way it needed to go on the duet and didn't give the others a thought. I really need to stop building things at 2am.

Looking at the pdf and the duet wiring diagram and my thinking is this. (Hope this makes sense)
2B 2A 1A 1B
Red Blue Green Black this is how it is on the Duet

My motors come wired up as

A A\ B B
Black Green Red Blue

Now I can only assume that e.g A would be 1A & A\ would be 2A. If I am thinking on the right path then do I need to move the pins around on the duet connection end of the motor leads so that they are in this order.

DUET BOARD
2B 2A 1A 1B
Red Blue Green Black

MOTOR PLUG

B\ A\ A B
Blue Green Black Red

If I am wrong then I have no clue which is probably more than likely.

[Phaedrux]

I think the way you have them wired is alright, just that the pairs are swapped such that the rotation direction is reversed from how it's expected. Which is fine because it can be altered in software anyway with the drive direction command.

If you had the motor pairs wired in an unmatched fashion it wouldn't spin and you'd get some warnings in the console. It can also potentially cause damage.

The whole 1A 1B 2A 2B A A/ B B/ thing is pretty confusing, I agree.

In your case though by the look of the motor spec PDF the colors of the wires look like they actually match the colors of the plugs on the duet wiring diagram, which isn't always the case.

So on the motor the pair is denoted by the letters (A's together and B's together). And on the duet the pairs are denoted by the numbers (1's together, and 2's together).

So in the PDF it says that black (A) and green (A/) are a coil pair, and red (B) and blue (B/) are a coil pair.

And on the duet black (1B) and green (1A) are a pair, and red (2B) and blue (2A) are a pair.

So
black (A) to black (1B),
green (A/) to green (1A),
red (B) to red (2B),
blue (B/) to blue (2A).

I hope that makes sense.

If you decide to swap them around to match the colors I think that would verify that the rotation direction changes.

[RAM]

@Phaedrux ok im confused sorry.
Do I wire them in the order of

black (A) to black (1B),
green (A/) to green (1A),
red (B) to red (2B),
blue (B/) to blue (2A).

Which I don't understand as the order of the pair looking at the wiring diagram on the duet 2 it shows that it is.

black (A) to black (1B),
green (A/) to green (1A),
blue (B/) to blue (2A).
red (B) to red (2B),

[Phaedrux]

I'll have to double check when I get back home butt I though I had it right...

[RAM]

@Phaedrux I have just changed it so that it is
black (A) to black (1B),
green (A/) to green (1A),
blue (B/) to blue (2A).
red (B) to red (2B)

I will run simple move tests and let you know what it is doing.

[dc42]

@RAM said in Hypercube Fusion movement help:

G1 S2 X10 moves to the rear right corner
G1 S2 Y10 moves to the front right corner

Did you remember to send G91 before sending those commands?

[RAM]

@dc42 I sent these commands after manually moving the print head to the middle of the bed.

G92 X150 Y150 Z5

then followed by these

G1 S2 X10

G1 S2 Y10

I have changed the motor wires around so that they are:
black (A) to black (1B),
green (A/) to green (1A),
blue (B/) to blue (2A).
red (B) to red (2B)

then I run the tests sending the above commands and also using the DWC to do the +/- Y & X axis moves.

I get the following
-x moves left
+x moves right
-y moves to the front of the printer
+y moves to the rear of the printer

[dc42]

You must send G91 before testing the motors with those G1 S2 commands. Try it and I think you will see the motors move in different directions, which will end @Phaedrux's confusion.

The responses to jogging in the + and - X and Y directions look correct now.

[RAM]

@dc42 you will have to forgive me I am useless with gcode.

so do I send

G91 then G1 S2 Y10 ? or all together as 1 string ?

[dc42]

@RAM said in Hypercube Fusion movement help:

@dc42 you will have to forgive me I am useless with gcode.

so do I send

G91 then G1 S2 Y10 ? or all together as 1 string ?

Either will work.

[RAM]

@dc42
G91 G1 S2 X10 now moves diagonally from left front to right rear
G91 G1 S2 Y10 now moves diagonally from left rear to right front

[dc42]

@RAM said in Hypercube Fusion movement help:

@dc42
G91 G1 S2 X10 now moves diagonally from left front to right rear
G91 G1 S2 Y10 now moves diagonally from left rear to right front

That's exactly right. Now you just need to get the M574 endstop definitions in config.g right, and the homing files.

[RAM]

@dc42
Just tested the X, Y & Z homing indviually and they are working perfectly.

When I use the home all the X homes fine but when it does the Y it does the 1st home and then runs off to the right for some reason ??

; generated by RepRapFirmware Configuration Tool v2.1.8 on Sun Jan 26 2020 18:02:23 GMT+0000 (Greenwich Mean Time)
G91                     ; relative positioning
G1 H2 Z5 F6000          ; lift Z relative to current position
G1 H1 X-315 F1800   	; move quickly to X or Y endstop and stop there (first pass)
G1 X5 F6000          	; go back a few mm
G1 H1 X-315 F360        ; move slowly to X axis endstop once more (second pass)
G1 H1 Y325 F1800            	; home Y axis
G1 Y-15 F6000          	; go back a few mm
G1 H1 Y315 F360        	; move slowly to X axis endstop once more (second pass)
G90                     ; absolute positioning
G1 X150 
G1 X150 Y130 F6000      ; go to first bed probe point and home Z
G30                     ; home Z by probing the bed
;G1 X0 Y0 Z5 		; return to a parked position

[RAM]

@dc42

Figured out what was happening the G1 X150 after the G90 was causing it to slip but not sure why it was running off to the right after.

I have to undock the Y axis from the endstop before any X moves.

only thing I can't work out now is why the middle of the bed is off for Z probing. When it homes and does the last part for the first bed probe it is not in the middle as it was before.

[dc42]

The assumed positions when the homing switches trigger are the same as the axis limits set by M208. So M208 indirectly determines the coordinates of the centre of the bed. See https://duet3d.dozuki.com/Wiki/Centering_the_bed_or_setting_the_bed_origin.

[RAM]

@dc42 when I home the X & Y Individually it is showing me in the DWC that X 0.0 but Y 320.0

I measured the center of the bed when I 1st got it all moving so I knew exactly where the center was when I moved the print head to the center and it was showing X 146.0 Y 130.0 and if I was to home all it would move to the center.

now if I home all it ends up almost to the front of the bed in the middle and the DWC shows that it thinks it is at X146 Y130 ??

This is what it says in my config.g
; Axis Limits
M208 X0 Y0 Z0 S1 ; set axis minima
M208 X310 Y320 Z480 S0 ; set axis maxima

; Endstops
M574 X1 Y2 S1 ; set active high endstops
M574 Z1 S2 ; set endstops controlled by probe

[Phaedrux]

@dc42 said in Hypercube Fusion movement help:

which will end @Phaedrux's confusion.

It'll take a lot more than that.

I think the G91 was in one of the first tests but I should have made it explicit.

Thanks for the sanity check.

[Phaedrux]

@RAM said in Hypercube Fusion movement help:

I have to undock the Y axis from the endstop before any X moves.

What does this mean?

You can add another -Y move to the homing file after the second endstop pass to get it out of the way.

G1 H1 Y325 F1800            	; home Y axis
G1 Y-15 F6000          	; go back a few mm
G1 H1 Y315 F360        	; move slowly to X axis endstop once more (second pass)
 
G1 Y-15 F6000 ; go back a few mm for clearance
 
G90                     ; absolute positioning

@RAM said in Hypercube Fusion movement help:

when I home the X & Y Individually it is showing me in the DWC that X 0.0 but Y 320.0

That's correct because you X endstop is at the low end of travel and the Y endstop is at the high end of travel. You mentioned earlier that you could relocate the Y endstop to the front of the printer. If that's easy to do you can go ahead and do that. You'd have to change the M574 Y2 to be M574 Y1 to tell it that the endstop is now at the low end. Then you would have to change the homing files to reverse the directions of the Y moves because now it would have to move to the front instead of the back.

@RAM said in Hypercube Fusion movement help:

now if I home all it ends up almost to the front of the bed in the middle and the DWC shows that it thinks it is at X146 Y130 ??

It almost sounds as if the steps per mm are incorrect so that it's moving more than expected. Take a ruler and measure how far the head actually moves when you tell it to move 10mm in X and then in Y.

[RAM]

@Phaedrux
G1 Y-15 F6000 ; go back a few mm for clearance this is there because if I don't have it then it clips the Y endstop as it moves out to do the Z probe in the centre of the bed.

I don't know why the steps would be out as I haven't changed them at all. I will see if I can find the original config.g file and compare them to the latest config.g