Driver numbers?

[dc42]

Make sure that you put the M584 command before other movement-related commands (except M569), in particular before M350 and M906. Also check that the firmware reports the presence of the DueX5 board in the M115 command or on the Settings General page of DWC,

I have started implementing bed levelling using independent Z motors. See https://duet3d.com/wiki/G-code#M671:_Define_Z_leadscrew_positions.

Driver numbers are now documented at https://duet3d.com/wiki/Driver_and_heater_numbers.

[T3P3Tony]

@Kulitorum:

I am confused that on the wiring diagram (https://duet3d.com/wiki/Duet_WiFi_wiring_diagrams) the drivers does not have their corresponding firmware driver numbers written on them. Why do we refer to driver numbers 0-10 in the firmware, but in the hardware documentation they are named x,y,z,e0,e1,e2,e3,e4,e5,e6

Please put the correct driver numbers in the wiring diagrams.

Kulitorum

I have finally done this, sorry for the delay:

https://duet3d.com/wiki/Duet_WiFi_wiring_diagrams

https://duet3d.com/wiki/Duex2_and_Duex5_wiring_diagram

[fcwilt]

Another example of the first rate support provided for Duet products.

Loving it.

Frederick

[Guyaros]

Thanks Tony,
this is very useful.

[stellator]

Dear DC42, sorry that i cant put this more specific but what do i have to do to perform an auto bed levelling exactly? I get a nice reliable heightmap within 5µm deviation between measurements but the single z-axis motors do not corrected for the offset.

thanks and gn8

[stellator]

Oh, here is the according config:

; General preferences
M111 S0 ; Debugging off
G21 ; Work in millimetres
G90 ; Send absolute coordinates…
M83 ; ...but relative extruder moves
M555 P1 ; Set firmware compatibility to look like RepRapFirmare
M208 X0 Y0 Z0 S1 ; Set axis minima
M208 X230 Y310 Z220 S0 ; Set axis maxima

; Endstops
M574 Z0 S0 ; Define active low and unused microswitches
M574 X1 Y1 S1 ; Define active high microswitches
M558 P5 X0 Y0 Z1 H3 R0.2 F7000 T7000 I1 ; Set Z probe type to switch and the axes for which it is used, the dive height H, the recovery time R, F is feedrate speed for z-axis, T is travel speed for x and y, I is for active high or low
G31 P600 Z0 ; Set Z probe trigger value, offset and trigger height
M557 X0:230 Y0:310 S100 ; Define mesh grid XY limits and S spacing

; Drives
M569 P0 S1 ; Drive 0 (X) goes forwards
M569 P1 S1 ; Drive 1 (Y) goes forwards
M569 P2 S0 ; Drive 2 (Z) goes backwards
M569 P3 S1 ; Drive 3 (E0) goes forward
M569 P4 S0 ; Drive 4 (E1) goes backwards
M569 P5 S0 ; Drive 5 (Z1) goes backwards
M569 P6 S0 ; Drive 6 (Z2) goes backwards
M569 P7 S0 ; Drive 7 (Z3) goes backwards
M569 P8 S0 ; Drive 8 (Z4) goes backwards
M584 X0 Y1 Z5:6:7:8 E3 ; Apply custom drive mapping Drives 5,6,7,8 are driven as one
M671 X10:220:220:10 Y10:10:300:300 ; Z motors are at coordinates 5:X10Y10 6:X220Y10 7:X220Y300 8:X220Y300
M350 X16 Y16 Z16 E16 I1 ; Configure microstepping, interpolation
M92 X32,6531 Y32,6531 Z800 E500 ; Set steps per mm
M566 X600 Y600 Z30 E120 ; Set maximum instantaneous speed change or jerk when changing direciton (mm/min)
M203 X10000 Y10000 Z500 E3000 ; Set maximum speeds, ignored when executing M558 (mm/min)
M201 X2000 Y2000 Z30 E50 ; Set accelerations (mm/s^2)
M906 X1300 Y1300 Z1500 E1500 I30 ; Set motor currents (mA) and motor idle factor in per cent
M84 S30 ; Set idle timeout

; Heaters
M141 H2 ; Assign chamber heater to heater 2
M143 H0 S125 ; set maximum bed temperature to 125C
M143 H1 S600 ; set maximum hotend temperature to 600C
M143 H2 S90 ; set the maximum chamber temperature to 90C
M301 H0 P-1 ; Set bed heater to bang-bang mode
;M301 H1 P-1 ; Set bed heater to bang-bang mode
M301 H1 S0.40 P10 I0.2 D0 T0.4 W180 B80 ; Use PID on hotend heater (may require further tuning)
M301 H2 P-1 ; Set chamber heater 2 to bang-bang mode
M305 P0 T100000 B4138 C0 R4700 ; Set thermistor + ADC parameters for bed heater 0
M305 P1 X104 ; Assign TC daughter board channel 1 to H1 hotend heater
M305 P2 X200 ; Remap sensor channel 2 to Pt100 daughter board channel 200
M305 P101 X105 S"TC 2" ;
M305 P102 X201 S"Pt 2" ;

; Fans
;M106 P0 S1 I0 F500 H1:2 T45 ; Set fan 0 value, PWM signal inversion and frequency. Thermostatic control is turned on
;M106 P1 S1 I0 F500 H1:2 T45 ; Set fan 1 value, PWM signal inversion and frequency. Thermostatic control is turned on
M106 P0 S50 I0 F32 B1 H1 T30 ; Set fan 0 0-255 value, PWM signal inversion and frequency and start up time. Starts fan over 30C.
M106 P3 S1 H-1 ; Set fan 2 value, PWM signal inversion and frequency. Thermostatic control is turned off
M106 P5 S0.3 ; Red LED to 30% power
M106 P6 S0.3 ; Green LED to 30% power
M106 P7 S0.3 ; Blue LED to 30% power
;M106 P3 S1 H-1 ; Set Duex fan 3 to always on full power and not thermostaically controlled

; Tools
M563 P0 D0 H1 ; Define tool P(0) and assign to Extruder D(0) Heater H(1)
G10 P0 X0 Y0 Z0 ; Set tool 0 axis offsets
G10 P0 R0 S0 ; Set initial tool 0 active and standby temperatures to 0C

; Network
M550 P ; Set machine name
M551 P ; Set password
M552 S1 ; Enable network
; Access point is configured manually via M587 by the user
M586 P0 S1 ; Enable HTTP
M586 P1 S0 ; Disable FTP
M586 P2 S0 ; Disable Telnet

; Custom settings are not configured

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

[stellator]

; bed.g
; called to perform automatic bed compensation via G32
; M584 X0 Y1 Z5:6:7:8 E3 ; Apply custom drive mapping Drives 5,6,7,8 are driven as one
; generated by RepRapFirmware Configuration Tool on Wed Nov 08 2017 23:58:37 GMT+0100

; Clear any bed transform
M561

; Home all axes
G28

; Probe the bed at 4 points and autolevel all four afterwards
G30 P0 X10 Y10 H0 Z-99999 ; probe near motor 5
G30 P1 X220 Y10 H0 Z-99999 ; probe near motor 6
G30 P2 X220 Y300 H0 Z-99999 ; probe near motor 7
G30 P3 X10 Y300 H0 Z-99999 S4 ; probe near motor 8 and correct all four z positions

[dc42]

That should work if you press the bed compensation button before each print. But I recommend you use mesh bed compensation instead of 4-point compensation. See https://duet3d.com/wiki/Using_mesh_bed_compensation.

[stellator]

Hi, thanks for the fast reply but Iam looking for auto levelling/calibration before and even without printing. I thought there was already a command for that like G30/32 or G29 which does it but i always get the same heightmap in the end with no corretions made, you see?

First run
[/file:///C:/Users/Hoschie/Desktop/1st.jpg]
Second run
[/file:///C:/Users/Hoschie/Desktop/2nd.jpg]
Gcode Console:

12:54:24
G29
12 points probed, mean error 0.014, deviation 0.024
Height map saved to file heightmap.csv
12:53:47
G32
Leadscrew adjustments made: 0.829 0.834 0.832 0.827, points used 4, deviation before 0.856 after 0.000
12:50:12
G29
12 points probed, mean error 0.015, deviation 0.025
Height map saved to file heightmap.csv
12:49:34
G32
Leadscrew adjustments made: 0.829 0.824 0.822 0.827, points used 4, deviation before 0.854 after 0.000

[stellator]

Doh - unfortuntately I am obviously so bad in text based code that i cant even upload an image

[stellator]

Well its still saying it did do leadscrew adjustments but it doesnt..
Plus i do not seem to be able to individually define mesh grid points instead of a pattern with a predefined spacing. If i would like to scan and display the heightmap with only 4 points for bed levelling before compensation during print, that it not possible if a have a non symmertric bed (like 200x300 as i do).

thx

[dc42]

1. Your bed probing for leadscrew adjustment and your G29 bed probing appear to differ in their idea of where Z=0 is by about 0.8mm. Are you homing during the sequence at all, e.g. in the bed.g file ?

2. What happens if you run leadscrew adjustment multiple times, without homing or doing G29 in between? Does the adjustment converts to near zero?

3. The M557 mesh bed compensation allows you to specify different X and Y spacings for the grid. So you can do 4 point probing on a rectangular bed.

[stellator]

Hi, M557 worked, using two different s parameters for each axis is doing the trick - thanks!

I dont get leadscrew adjustments yet, with or without homing. It still says leadscrew adjustments are made when they are not - e.g. leadscrew 4 at motor 8 offset is constantly 50 µm off and not being adjusted automatically, when manualy adjustment is working by splitting the z motor definition to individual ones using M584 (meaning that i can move individual z motors so they are not under defined when only defining one z motor in config.g, correct?)

thx

[dc42]

That sounds odd. If the firmware says that leadscrew adjustments have been made, then it should have sent step pulses to the motors. Are you certain it isn't adjusting them? The movements may be too small to see easily. One test you can do is to run G31 repeatedly to see if the reported corrections change.

[stellator]

My z-motors are arranged counterclockwise, if that matters?

[dc42]

It doesn't matter, as long as you list the leadscrew coordinates of the Z motors in the same order that you list the corresponding drivers numbers.

[stellator]

Hi again, so I crosschecked individual z-axes movements using a borrowed mitutoyo scale. Each axes can be adressed individually and moves exactly the given amount e.g 0.13 mm and so does the concerto when joined back together (within the total travel and error of the scale When I try to correct for the offsets given by the heighmap though, I have to move them axes approximately twice as much as indicated in the offsets (doing it manually). Does that indicate some possible source of error in my settings (since the steps per millimeter are defined for Z, its not necessary to define the pitch anywhere e.g., right)?

[stellator]

Ok, changing configuration to clockwise now (since i found it to be noted in fat letters at reprap.org), the axes do seem to be automatically corrected by performing G30 via G32 - only the wrong way round, so the error is getting bigger but at least it is changing now
I will keep you posted hopefully tomorrow

gn8

[dc42]

It's quite common to need to correct more than the calculated amount. I think this is because the connections between the leadscrews and the bed are not the perfect ball joints that the model assumes.

[stellator]

After rewiring stuff to have the four axis table motors hardwired in clockwise fashion too (increasing clock time = increasing motor channel numbers) and changing the absolute endstop positions to where they are (at the maximum positions) I cant get them to be respected by the software anymore (They were working fine before when that position was programmed to be X0 Y0). The endstops are flagged when hit so activity is still correct, of course, the maxima are displayed correctly and the direction of the motors is correct but the motors dont stop when the endstops are hit during homing, poor me - and poor machine

The endstops immediatly take effect again when I say they were at the low end by M574 X1 Y1 S1. But then, of course, my coordinate system and motor direction is the wrong way round again (elswise homeall.g would not work anymore, funny enough).

This is the code that i thought that should work but doesnt:

M555 P1 ; Set firmware compatibility to look like RepRapFirmare
M208 X311 Y231 Z225 ; set axis maxima
M208 X0 Y0 Z-1 S1 ; Set axis minima
M574 Z0 ; Define unused microswitches
M574 X2 Y2 S1 ; Define active high S1 microswitches at high XY2 or low XY1 end
M558 P5 X0 Y0 Z1 H3 R0.2 F7000 T7000 I1 ; Set Z probe type to switch and the axes for which it is used, the dive height H
G31 P600 Z0 ; Set Z probe trigger value, offset and trigger height
M557 X0:310 S310 Y0:230 S230 ; Define mesh grid X limits and S spacing

M569 P0 S0 ; Drive 0 (X) goes backwards
M569 P1 S0 ; Drive 1 (Y) goes backwards
M569 P2 S0 ; Drive 2 (Z) goes backwards
M569 P3 S1 ; Drive 3 (E0) goes forward
M569 P4 S1 ; Drive 4 (E1) goes forward
M569 P5 S0 ; Drive 5 (Z1) goes backwards
M569 P6 S0 ; Drive 6 (Z2) goes backwards
M569 P7 S0 ; Drive 7 (Z3) goes backwards
M569 P8 S0 ; Drive 8 (Z4) goes backwards
M584 X0 Y1 Z5:6:7:8 E3 ; Apply custom drive mapping Drives 5,6,7,8 are driven as one
M671 X0:310:310:0 Y0:0:230:230 S2 ; Z motors are at coordinates 5:X0Y0 6:X310Y0 7:X310Y230 8:X310Y230

; homeall.g

G91
G1 Z3 F3000

G1 X320 Y240 F7000 S1
G1 X-5 Y-5 F1000
G1 X320 Y240 F300 S1

G1 X-115 Y-155 F7000
G1 Z-230 F3000 S1
G1 Z3 F3000
G1 Z-230 F100 S1

G90
G92 Z0
G1 Z3 F3000