Delta calibration and Z height



  • Tried migrating an old kossel mini from its RAMPS board to a Maestro yesterday, after a bit of headbashing most seemed to work, but can't quite seem to get the Z height set.

    From my understanding this should be the H parameter to M665, and not M208 as with a cartesian system? But despite having this set to 217 and no M208 Zn S0 I end up with Z=207 after homing.

    homedelta.g does have a Z-5 move, so I would expect the end result to be Z=212? (no config-override.g yet)

    ; homedelta.g
    ; called to home all towers on a delta printer
    ;
    ; generated by RepRapFirmware Configuration Tool v2.1.8 on Thu May 21 2020 15:20:35 GMT+0200 (Central European Summer Time)
    G91                        ; relative positioning
    G1 H1 X265 Y265 Z265 F1800 ; move all towers to the high end stopping at the endstops (first pass)
    G1 H2 X-5 Y-5 Z-5 F1800    ; go down a few mm
    G1 H1 X10 Y10 Z10 F360     ; move all towers up once more (second pass)
    G1 Z-5 F6000               ; move down a few mm so that the nozzle can be centred
    G90                        ; absolute positioning
    G1 X0 Y0 F6000             ; move X+Y to the centre
    
    ; Configuration file for Duet Maestro (firmware version 2.03)
    ; executed by the firmware on start-up
    ;
    ; generated by RepRapFirmware Configuration Tool v2.1.8 on Thu May 21 2020 15:20:35 GMT+0200 (Central European Summer Time)
    
    ; General preferences
    G90                                         ; send absolute coordinates...
    M83                                         ; ...but relative extruder moves
    M550 P"Delta"                               ; set printer name
    M665 R144.9 L216 B50 H217                   ; 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
    M552 S1                                     ; enable network and acquire dynamic address via DHCP
    M586 P0 S1                                  ; enable HTTP
    
    ; Drives
    M569 P0 S0                                  ; physical drive 0 goes backwards (x)
    M569 P1 S0                                  ; physical drive 1 goes backwards (y)
    M569 P2 S0                                  ; physical drive 2 goes backwards (z)
    M569 P3 S0                                  ; physical drive 3 goes backwards (e0)
    M584 X0 Y1 Z2 E3                            ; set drive mapping
    M350 X16 Y16 Z16 E16 I1                     ; configure microstepping with interpolation
    M92 X100.00 Y100.00 Z100.00 E95.00          ; set steps per mm
    ;old values from marlin?
    ;M566 X1200.00 Y1200.00 Z1200.00 E1200.00    ; set maximum instantaneous speed changes (mm/min)
    ;M203 X30000.00 Y30000.00 Z30000.00 E1500.00 ; set maximum speeds (mm/min)
    ;M201 X1000.00 Y1000.00 Z1000.00 E1000.00    ; set accelerations (mm/s^2)
    ;M906 X500 Y500 Z500 E500 I30                ; set motor currents (mA) and motor idle factor in per cent
    ;low and slow for comissioning
    M566 X500.00 Y500.00 Z500.00 E500.00    ; set maximum instantaneous speed changes (mm/min)
    M203 X10000.00 Y10000.00 Z10000.00 E1500.00 ; set maximum speeds (mm/min)
    M201 X250.00 Y250.00 Z250.00 E250.00    ; set accelerations (mm/s^2)
    M906 X300 Y300 Z300 E300 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 S1                            ; set active high endstops, high end.
    ; Z-Probe
    M558 P0 H5 F120 T6000                       ; disable Z probe but set dive height, probe speed and travel speed
    M557 R50 S20                                ; define mesh grid
    
    ; Heaters
    M305 P0 T100000 B4092 R2200                 ; set thermistor + ADC parameters for heater 0
    M143 H0 S100                                ; set temperature limit for heater 0 to 100C
    M305 P1 T100000 B4092 R2200                 ; set thermistor + ADC parameters for heater 1
    M143 H1 S250                                ; set temperature limit for heater 1 to 250C
    
    ; 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 F0                            ; 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
    
    ; Custom settings are not defined
    M81                                         ;turn off ATX supply just in case
    ;M501                                       ;leave out config-override.g for now
    

    Edit: never figured out what caused the discrepancy, but we commented out the Z-5 and X0 Y0 moves from homedelta.g and ran G92 Z217 before redoing the auto calibration using the paper method. Then save the new values and enable config-override and its all good.


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