Giant Delta printer Slow Homing issue.



  • Hi,
    We are currently developing a Giant size Delta printer. Is it something with the size or did something wrong?
    Some issues:

    1. I could not change motor direction with "M569 P0 S1 T3:3:5:0" by changing "S" Value 1 or 0.. In the end, I have changed by external driver signal.
    2. Once the first axis reaches the ( NC 2 wire Limits Switch ) the other moves slow down extremely (which is not set that slow). After sometimes gives error "G0/G1 insufficient axes homed ". But once try again and again on the end success the calibration. However, problems remain.
    3. Not working at all "M564 H0 ; allow jog without homing"

    Setup :

    • Board: Duet 2 Wifi 1.04
    • Machine print size: Radius: 1200, Height 1500.
    • Arm length: 1200 mm
    • Bed Size: 1200 mm
    • External 12NM Large Stepper driver and motors used with Stepper Breakout Board v1.1

    Thanks


  • administrators

    Please post your config.g


  • administrators

    Regarding #3, the rules on jogging are stricter for delta printers. You can test the motors individually, see https://duet3d.dozuki.com/Wiki/ConfiguringRepRapFirmwareDeltaPrinter#Section_Testing_the_motors_and_endstops_individually.



  • @T3P3Tony Hi Tony,

    I have achieved to the homing several times. But on each homing, once the first motor reaches to the limit switch, other motors noticeably slow down and motors sound like receive a nosy signal after the first motor hit the limit switch. But homing is not succeed at first. Several times fail and succeed in the end.

    By the way one of the limit switches is broken (During the trial adding "M564 H0 ; allow jog without homing" code in homedelta.g file )on one of the trials in the end. Actually, I was trying to test cold extrusion, however, it run the Axis motor which is already on the limit switch. But normally Cold extrusion successful before this code.

    Here "homedelta.g"

    ; homedelta.g
    ; called to home all towers on a delta printer
    ;
    ; generated by RepRapFirmware Configuration Tool v3.1.4 on Sun Sep 27 2020 20:52:39 GMT+0200 (Central European Summer Time)
    G91                         ; relative positioning
    ;*** Slow homing has been configured. Change F90 to F900 below when your configuration is working
    G1 H1 X1205 Y1205 Z1205 F2500 ; move all towers to the high end stopping at the endstops (first pass)
    G1 H2 X-15 Y-15 Z-15 F2500      ; go down a few mm
    ;*** Slow homing has been configured. Change F90 to F360 below when your configuration is working
    G1 H1 X15 Y15 Z15 F2000      ; move all towers up once more (second pass)
    G1 Z-15 F5000                ; 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
    
    
    

    Here are the config.g codes:

    ; Configuration file for Duet WiFi (firmware version 3)
    ; executed by the firmware on start-up
    ;
    ; generated by RepRapFirmware Configuration Tool v3.1.4 on Sun Sep 27 2020 20:52:39 GMT+0200 (Central European Summer Time)
    
    ; General preferences
    G90                                                ; send absolute coordinates...
    M83                                                ; ...but relative extruder moves
    M550 P"Giant3D"                                    ; set printer name
    M665 R600 L1200 B575 H1250                          ; Set delta radius, diagonal rod length, printable radius and homed height
    M564 H0					     					  ; allow jog without homing
    M666 X0 Y0 Z0                                      ; put your endstop adjustments here, or let auto calibration find them
    
    ; Network
    
    M552 S1                                            ; enable network
    M586 P0 S1                                         ; enable HTTP
    M586 P1 S0                                         ; disable FTP
    M586 P2 S0                                         ; disable Telnet
    
    ; Drives
    M569 P0 S1 T3:3:5:0                                        ; physical drive 0 goes Forward
    M569 P1 S1 T3:3:5:0                                        ; physical drive 1 goes Forward
    M569 P2 S1 T3:3:5:0                                        ; physical drive 2 goes Forward
    M569 P3 S1 T3:3:5:0                                        ; physical drive 3 goes Forward
    
    M584 X6 Y7 Z8 E5                                   ; set drive mapping
    M350 X1 Y1 Z1 E1 I0                                ; configure microstepping without interpolation
    M92 X22.86 Y22.86 Z22.86 E274.00                   ; set steps per mm (Axis motors 140mm/Rev and 3200 pulse/ rotation So 3200/140 = 22.857)
    M566 X1200.00 Y1200.00 Z1200.00 E1200.00           ; set maximum instantaneous speed changes (mm/min)
    M203 X6000.00 Y6000.00 Z6000.00 E3000.00           ; set maximum speeds (mm/min)
    M201 X1000.00 Y1000.00 Z1000.00 E1000.00           ; set accelerations (mm/s^2)
    M906 X1000 Y1000 Z1000 E800 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 S1 P"xstop"                                ; configure active-high endstop for high end on X via pin xstop
    M574 Y2 S1 P"ystop"                                ; configure active-high endstop for high end on Y via pin ystop
    M574 Z2 S1 P"zstop"                                ; configure active-high endstop for high end on Z via pin zstop
    
    ; Z-Probe
    M558 P1 C"zprobe.in+zprobe.mod" H5 F120 T6000      ; set Z probe type to unmodulated and the dive height + speeds
    M558 H30                                           ;*** Remove this line after delta calibration has been done and new delta parameters have been saved
    G31 P500 X0 Y0 Z3.5                                ; set Z probe trigger value, offset and trigger height
    M557 R350 S200                                     ; define mesh grid
    
    ; Heaters
    M308 S0 P"bedtemp" Y"thermistor" T100000 B4138     ; configure sensor 0 as thermistor on pin bedtemp
    M950 H0 C"bedheat" T0                              ; create bed heater output on bedheat and map it to sensor 0
    M307 H0 B1 S1.00                                   ; enable bang-bang mode for the bed heater and set PWM limit
    M140 H0                                            ; map heated bed to heater 0
    M143 H0 S120                                       ; set temperature limit for heater 0 to 120C
    
    M308 S1 P"e0temp" Y"pt1000" R4700                  ; configure sensor 1 as PT1000 on pin e0temp
    M950 H1 C"e0heat" T1                               ; create nozzle heater output on e0heat and map it to sensor 1
    M307 H1 B0 S0.50                                   ; disable bang-bang mode for heater  and set PWM limit
    M308 S2 P"e1temp" Y"pt1000" R4700                  ; configure sensor 2 as PT1000 on pin e1temp
    M950 H2 C"e1heat" T2                               ; create nozzle heater output on e1heat and map it to sensor 2
    M307 H2 B0 S0.50                                   ; disable bang-bang mode for heater  and set PWM limit
    
    ; Fans
    M950 F0 C"fan0" Q500                               ; create fan 0 on pin fan0 and set its frequency
    M106 P0 S1 H2:1 T45                                ; set fan 0 value. Thermostatic control is turned on
    M950 F1 C"fan1" Q500                               ; create fan 1 on pin fan1 and set its frequency
    M106 P1 S1 H2:1 T45                                ; set fan 1 value. Thermostatic control is turned on
    
    ; Tools
    M563 P0 D0 H1:2 F0 S"Typhoon"                      ; 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
                                      ; set initial tool 1 active and standby temperatures to 0C
    
    ; Custom settings are not defined
    
    ; Miscellaneous
    M575 P1 S1 B57600                                  ; enable support for PanelDue
    M501                                               ; load saved parameters from non-volatile memory
    M911 S10 R11 P"M913 X0 Y0 G91 M83 G1 Z3 E-5 F1000" ; set voltage thresholds and actions to run on power loss
    T0                                                 ; select first tool
    
    
    


  • are your steps per mm correct?
    does it definitely move the distance requested?
    I can tell you have external drivers connected.
    What size pulleys/belts have you got installed and what number of steps do you have set on your external drivers?



  • @dc42 Thank you for your prompt reply.
    I have tested individually.
    first trial: All motors go down -40 mm. But it supose to be -100 it was smooth but wrong indeed.

    G1 H2 X-100 Y-100 Z-100 F1000 
    

    Second trial: for a single axis which is the main problem. it did not even run 1 mm. it was a kind of noisy move.

    G1 H2 X100  F1000 
    


  • @jay_s_uk According to my calculation correct, but seems like some problem.

    • I set the external driver for 3200 steps/revolution.
    • Using duet stepper breakout board.
    • Pulley 14 teeth at 10 mm pitch it should be 140 mm per revolution. -
    • Step / mm
    M92 X22.86 Y22.86 Z22.86 E274.00 
    
    • As I mentioned above, just tested if all motors run together
    G1 H2 X-100 Y-100 Z-100 F1000
    

    40 travel at Z ( As Delta configuration). But it supposes to run 100 mm.

    • second trial was only "X" axis. It was driven with nosy sound and not even a few mm run.

    Can it be a micro-stepping issue? Because since they have their own setup, these motors do not need micro-stepping. But it still does not explains noisy moves when moving single-axis.



  • @sozkan said in Giant Delta printer Slow Homing issue.:

    ; Drives M569 P0 S1 T3:3:5:0 ; physical drive 0 goes Forward M569 P1 S1 T3:3:5:0 ; physical drive 1 goes Forward M569 P2 S1 T3:3:5:0 ; physical drive 2 goes Forward M569 P3 S1 T3:3:5:0 ; physical drive 3 goes Forward M584 X6 Y7 Z8 E5 ; set drive mapping

    what I have just noticed is you are setting the timings for drives 0, 1, 2 and 3 but mapping 5, 6, 7 and 8.

    I guess you need to change your M569 commands to use the same drive numbers. i.e.

    M569 P5 S1 T3:3:5:0                                        ; physical drive 0 goes Forward
    M569 P6 S1 T3:3:5:0                                        ; physical drive 1 goes Forward
    M569 P7 S1 T3:3:5:0                                        ; physical drive 2 goes Forward
    M569 P8 S1 T3:3:5:0                                        ; physical drive 3 goes Forward  
    


  • @jay_s_uk said in Giant Delta printer Slow Homing issue.:

    etting the

    Since I am using external driver, the expansion board mapping is 5(Extruder) 6,7,8,(X,Y,Z) so it is running like that. For the Extruder slightly different driver, manufacturer recommends "M569 PXXX SXXX R1 T3:3:5:0"
    So I use the similar parameter for all drives. Should I do anything with T parameters?



  • yes, but look at your P values in M569
    you're setting those requirements for the built in drives, not the external drives.
    change your M569 command as suggested



  • I have changed as you suggested it did not work!
    working one as previous :

    ; Drives
    M569 P0 S1 R1 T3:3:5:0                                        ; physical drive 0 goes Forward
    M569 P1 S1 R1 T3:3:5:0                                      ; physical drive 1 goes Forward
    M569 P2 S1 R1 T3:3:5:0                                       ; physical drive 2 goes Forward
    M569 P3 S1 R1 T3:3:5:0                                        ; physical drive 3 goes Forward
    M584 X6 Y7 Z8 E5                                   ; set drive mapping
    

    By the way, I was played a bit on/off side on dip Switches on the stepper driver like on and off.
    Thankfully one of the issues is working correctly on only for :

    G91                         ; relative positioning
    G1 H2 X-100 Y-100 Z-100 F1000      ; go down a few mm
    

    with this code going -100 mm exactly as per steps /mm

    But if ;

    G91                         ; relative positioning
    G1 H2 X100 F1000      ; go Up 100 mm back
    

    it is 12 mm only IT seems to me during the calibration considering delta kinematic. but not running other axes.

    I am uploading a youtube video on how it behaves. I will share it as soon as upload finalize.

    As a conclusion, if one or two of the axis motors hit limit switches, third axis motor slow down some reason, try to reach some level and board limit switch signals all of them get on and off for a second. I have noticed during the capture.


  • administrators

    @sozkan said in Giant Delta printer Slow Homing issue.:

    Pulley 14 teeth at 10 mm pitch it should be 140 mm per revolution.

    Are you really using belts with 10mm tooth pitch?



  • @dc42 Hi
    Yes, it is 10 mm pitch and revolution 140 mm I have just confirmed steps/mm was correct. During the homing, as soon as the first or second limit switch engaged, the last motor slow down almost 8 times. and homing failed. One or a few pass then homing success.

    This is the video about the issue.
    Link: Youtube video of Giant Delta Testing and issues.


  • administrators

    Looking at your video, there is no way that the belts you are using have 10mm pitch (distance between teeth). They look like 2mm or 3mm to me.



  • @sozkan said in Giant Delta printer Slow Homing issue.:

    External 12NM Large Stepper driver and motors used with Stepper Breakout Board v1.1

    if you are investing that much into the printer, why not get a duet 3 and drive those motors directly?


  • Moderator

    @sozkan said in Giant Delta printer Slow Homing issue.:

    Yes, it is 10 mm pitch

    10mm wide belts maybe?



  • @dc42 it is actually 10 mm. Because it is 3 meter high that's looks small.



  • @Veti Actually We have purchased the electronic hardware last year. We had some problem to fin suitable place with in the university. Finally started. But we may upgrade. if really makes difference.



  • @Phaedrux width of the belt 25 mm.


  • Moderator

    Well if you're certain that tooth to tooth distance is 10mm then I guess that's that.



  • @Phaedrux said in Giant Delta printer Slow Homing issue.:

    Well if you're certain that tooth to tooth distance is 10mm then I guess that's that.

    I have confirmed twice also in the video once, step/mm calculation is right according to the 10 mm pitch.
    The Actual problem is on the last axis homing.
    I will try to setup like a cartesian machine and try homing again.


  • administrators

    Please can you show in a video how you measured the tooth pitch to be 10mm.



  • @sozkan said in Giant Delta printer Slow Homing issue.:

    @Phaedrux said in Giant Delta printer Slow Homing issue.:

    Well if you're certain that tooth to tooth distance is 10mm then I guess that's that.

    I have confirmed twice also in the video once, step/mm calculation is right according to the 10 mm pitch.
    The Actual problem is on the last axis homing.
    I will try to setup like a cartesian machine and try homing again.

    can you also move the 50mm like you did set your callipers to that and then show us the callipers against the belt teeth if you move 50 mm then we should only see 5 teeth if the belts are truly 10 mm pitch (Which I doubt)



  • as you can see we are all very interested, as we have not seen a belt like that 🙂

    the white belts tend to have steel cores. they tend to break especially with 180 degree turns.
    can you please post a link to the belts used.



  • @Dougal1957
    Hi, here is the link of the video of breef info about components and measurement proof of belt teeth 🙂 .
    Youtube Link: for the homing calibration and teeth


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