G30, G32 Issues on Duet WiFi CoreXYU with inductive probe
-
Having some very strange issues related to Z - probing using a NPN NC inductive probe on a CoreXYU running latest 3.2b4. This is the probe, and probe value reads as either 0 or 1000 when triggered. It is connected to the Duet 2 probe pins.
When G30 is called, after probing in the middle of the bed the X and Y coordinates are reset to 0.
When something like G30 P0 X20 Y50 Z-99999 F600 is called, after the probing the machine moves VERY FAST to X0 Y0 afterwards. If several of points are probed in such a way (like with G32), the movements back to 0, 0 are increasingly fast and motors start skipping.Have tried various different parameters for CoreXYU to simulate CoreXYUV as well as G1 H parameter change and G30 with different S values but nothing seems to work as it should.
Below is the config relative parts:
; Drives M569 P0 S0 ; physical drive 0 goes forwards - X M569 P1 S0 ; physical drive 1 goes forwards - Y M569 P2 S1 ; physical drive 2 goes forwards - Z M569 P3 S0 ; physical drive 3 goes forwards - E0 M569 P4 S1 ; physical drive 4 goes forwards - E1 (W) M569 P6 S1 ; physical drive 5 goes forwards - U (TMC Chip on Extrudeo Expansion Board) M584 X1 Y0 Z2 E3:4 U6 ; set drive mapping - X and Y switched to allow for correct X direction (depends on how the motors are plugged) M350 X16 Y16 Z16 E16:16 U16 I1 ; configure microstepping with interpolation M92 X160.00 Y160.00 Z3200.00 E830.00:830.00 U160.00 ; set steps per mm M566 X800.00 Y800.00 Z300.00 E1000.00:1000.00 U800.00 ; set maximum instantaneous speed changes (mm/min) M203 X5000.00 Y5000.00 Z1400.00 E5000.00:5000.00 U5000.00 ; set maximum speeds (mm/min) M201 X500 Y500 Z250 E500:500 U500 ; set accelerations (mm/s^2) M906 X1200 Y1200 Z1200 E1000:1000 U1000 I25 ; set motor currents (mA) and motor idle factor in per cent M84 S30 ; Set idle timeout M669 K5 ; select coreXYU mode ; Axis Limits M208 X0 Y0 Z0 U0 S1 ; set axis minima M208 X160 Y240 Z150 U80 S0 ; set axis maxima ; Endstops M574 X1 S1 P"xstop" ; configure active-high endstop for low end on X via pin xstop M574 Y1 S1 P"ystop" ; configure active-high endstop for low end on Y via pin ystop M574 Z1 S2 P"nil" ; configure Z-probe endstop for low end on Z homing M574 U1 S1 P"e0stop" ; Filament sensors M591 D0 P2 C"duex.e3stop" S1 M591 D1 P2 C"duex.e4stop" S1 ; Z-Probe M558 P5 C"zprobe.in" H5 F600 G31 P999 X0 Y0 Z0.2 ; set Z probe trigger value, offset and trigger height P5 M557 X0:160 Y15:240 S25 ; define mesh grid ; Heaters M308 S0 P"bedtemp" Y"thermistor" T100000 B4092 ; 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"thermistor" T100000 B4725 C7.06e-8 ; configure sensor 1 as thermistor on pin e0temp M950 H1 C"e0heat" T1 ; create nozzle heater output on e0heat and map it to sensor 1 M307 H1 B0 S1.00 ; disable bang-bang mode for heater and set PWM limit M308 S2 P"e1temp" Y"thermistor" T100000 B4725 C7.06e-8 ; configure sensor 2 as thermistor on pin e1temp M950 H2 C"e1heat" T2 ; create nozzle heater output on e1heat and map it to sensor 2 M307 H2 B0 S1.00 ; disable bang-bang mode for heater and set PWM limit M308 S3 P"duex.e2temp" Y"thermistor" T100000 B4092 ; configure sensor 3 as thermistor on pin duex.e2temp M950 H3 C"duex.e2heat" T3 ; create chamber heater output on duex.e2heat and map it to sensor 3 M307 H3 B1 S1.00 ; enable bang-bang mode for the chamber heater and set PWM limit M141 H3 ; map chamber to heater 3 ; Fans M950 F0 C"fan0" Q500 ; create fan 0 on pin fan0 and set its frequency M106 P0 C"E0_Heatsink_Fan" S1 H1 T45 ; set fan 0 name and value. Thermostatic control is turned on M950 F1 C"fan1" Q500 ; create fan 1 on pin fan1 and set its frequency M106 P1 C"E0_Part_Fan" S1 H-1 ; set fan 1 name and value. Thermostatic control is turned off M950 F2 C"fan2" Q500 ; create fan 2 on pin fan2 and set its frequency M106 P2 C"E1_Part_Fan" S1 H-1 ; set fan 2 name and value. Thermostatic control is turned on M950 F3 C"duex.fan3" Q500 ; create fan 3 on pin duex.fan3 and set its frequency M106 P3 C"E1_Heatsink_Fan" S1 H2 T45 ; set fan 3 name and value. Thermostatic control is turned off M950 F4 C"duex.fan4" Q500 ; create fan 4 on pin duex.fan4 and set its frequency M106 P4 C"Chamber_Fan" S1 H-1 ; set fan 4 name and value. Thermostatic control is turned on M950 F5 C"duex.fan5" Q500 ; create fan 5 on pin duex.fan5 and set its frequency M106 P5 C"Chamber_LED" S1 H-1 ; set fan 5 name and value. Thermostatic control is turned off M950 F6 C"duex.fan6" Q500 ; create fan 6 on pin duex.fan6 and set its frequency M106 P6 C"Electronics_Fan" S1 H-1 ; set fan 6 value. Thermostatic control is turned off ; 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 M563 P1 D1 H2 F0 ; define tool 1 G10 P1 X20 Y0 Z0 ; set tool 1 axis offsets G10 P1 R0 S0 ; set initial tool 1 active and standby temperatures to 0CAny advice would be much appreciated, as I can not seem to find a similar issue on the forums.
-
@vasparshin said in G30, G32 Issues on Duet WiFi CoreXYU with inductive probe:
M558 P5 C"zprobe.in" H5 F600
G31 P999 X0 Y0 Z0.2 ; set Z probe trigger value, offset and trigger height P5the offset of X0 Y0 can not be correct for a npn probe. the probe has to have an offset
also you are probing very fast Switch to P8, but also consider lowering the probing speed.
can you try with 3.1.1? that is the latest stable.
-
Post your homing files and bed.g as well.
And the results of M122 and M98 P"config.g"
-
@Veti
Thank you for suggestions,
I have reverted to correct offset (set 0, 0 to see if anything changes), no change.
Have tried P8 instead of P5 and lowered probing speed, no difference.
Previously was on 3.0 stable and had the same issue. Might try 3.1.1 if nothing else helps.@Phaedrux
Home X (Y and U is the same code):G91 ; relative positioning G1 H2 Z5 F6000 ; lift Z relative to current position G1 H1 X-235 F1800 ; move quickly to X axis endstop and stop there (first pass) G1 X5 F6000 ; go back a few mm G1 H1 X-235 F360 ; move slowly to X axis endstop once more (second pass) G1 H2 Z-5 F6000 ; lower Z again G90 ; absolute positioningHome Z - also sets X & Y to 0 afterwards while setting Z correctly
G91 ; relative positioning G1 H2 Z5 F6000 ; lift Z relative to current position G1 H1 Y-215 F1800 ; move quickly to Y axis endstop and stop there (first pass) G1 Y5 F6000 ; go back a few mm G1 H1 Y-215 F360 ; move slowly to Y axis endstop once more (second pass) G1 H2 Z-5 F6000 ; lower Z again G90 ; absolute positioningBed.g is just G29 for now
M122:
=== Diagnostics === RepRapFirmware for Duet 2 WiFi/Ethernet version 3.2-beta4 running on Duet WiFi 1.02 or later + DueX2 Board ID: 08DDM-9FAM2-LW4SD-6J1F8-3SD6P-T3W7X Used output buffers: 3 of 24 (13 max) === RTOS === Static ram: 24108 Dynamic ram: 102372 of which 48 recycled Never used RAM 3520, free system stack 190 words Tasks: NETWORK(ready,176) HEAT(blocked,308) DUEX(blocked,35) MAIN(running,379) IDLE(ready,20) Owned mutexes: WiFi(NETWORK) === Platform === Last reset 00:00:19 ago, cause: software Last software reset at 2020-12-02 12:14, reason: User, GCodes spinning, available RAM 3444, slot 0 Software reset code 0x0003 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x0041f000 BFAR 0xe000ed38 SP 0xffffffff Task MAIN Error status: 0x00 MCU temperature: min 39.9, current 41.1, max 42.7 Supply voltage: min 24.3, current 24.4, max 24.6, under voltage events: 0, over voltage events: 0, power good: yes Driver 0: position 0, standstill, SG min/max not available Driver 1: position 0, standstill, SG min/max not available Driver 2: position 0, standstill, SG min/max not available Driver 3: position 0, standstill, SG min/max not available Driver 4: position 0, standstill, SG min/max not available Driver 5: position 0, standstill, SG min/max not available Driver 6: position 0, standstill, SG min/max not available Driver 7: position 0 Driver 8: position 0 Driver 9: position 0 Driver 10: position 0 Driver 11: position 0 Date/time: 2020-12-02 12:14:30 Cache data hit count 29327380 Slowest loop: 3.32ms; fastest: 0.21ms I2C nak errors 0, send timeouts 0, receive timeouts 0, finishTimeouts 0, resets 0 === Storage === Free file entries: 10 SD card 0 detected, interface speed: 20.0MBytes/sec SD card longest read time 1.0ms, write time 0.0ms, max retries 0 === Move === Hiccups: 0(0), FreeDm: 169, MinFreeDm: 169, MaxWait: 0ms Bed compensation in use: none, comp offset 0.000 === MainDDARing === Scheduled moves 0, completed moves 0, StepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1 === AuxDDARing === Scheduled moves 0, completed moves 0, StepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1 === Heat === Bed heaters = 0 -1 -1 -1, chamberHeaters = 3 -1 -1 -1 Heater 1 is on, I-accum = 0.0 === GCodes === Segments left: 0 Movement lock held by null HTTP is idle in state(s) 0 Telnet is idle in state(s) 0 File is idle in state(s) 0 USB is idle in state(s) 0 Aux is idle in state(s) 0 Trigger is idle in state(s) 0 Queue is idle in state(s) 0 LCD is idle in state(s) 0 Daemon is idle in state(s) 0 Autopause is idle in state(s) 0 Code queue is empty. === Network === Slowest loop: 16.04ms; fastest: 0.00ms Responder states: HTTP(0) HTTP(0) HTTP(0) HTTP(0) FTP(0) Telnet(0), 0 sessions HTTP sessions: 1 of 8 - WiFi - Network state is active WiFi module is connected to access point Failed messages: pending 0, notready 0, noresp 0 WiFi firmware version 1.25beta0 WiFi MAC address 60:01:94:73:61:69 WiFi Vcc 3.33, reset reason Turned on by main processor WiFi flash size 4194304, free heap 23408 WiFi IP address 192.168.31.20 WiFi signal strength -60dBm, mode 802.11n, reconnections 0, sleep mode modem Clock register 00002002 Socket states: 0 0 0 0 0 0 0 0 === Filament sensors === Extruder 0 sensor: ok Extruder 1 sensor: ok === DueX === Read count 1, 3.09 reads/minM98 P"config.g":
HTTP is enabled on port 80 FTP is disabled TELNET is disabled Error: Invalid kinematics matrix Error: Invalid use of P parameterTrying to figure out why kinematics matrix is invalid now, not sure what P parameter it is - is there a way to get the line number of error?
M669 gives:
Kinematics is CoreXYU, matrix: 1.00 1.00 0 0 1.00 -1.00 0 1.00 0 0 1.00 0 0 0 0 1.00 -
@vasparshin said in G30, G32 Issues on Duet WiFi CoreXYU with inductive probe:
Trying to figure out why kinematics matrix is invalid now, not sure what P parameter it is - is there a way to get the line number of error?
no. execute each line with a P in it in the console
-
Can be marked as solved, thanks everyone who tried to help.
It turned out to be a kinematics related issue - changed the following:
M669 K5to:
M669 K1 X1:1:0:0 Y1:-1:0:1 Z0:0:1:0 U0:0:0:1 ; select coreXY mode with kinematics matrix for coreXYUand the issue is now completely solved, homing and mesh bed works as it should (the solution/proper gcode was found here)
@dc42 if you have time, any idea as to why K5 mode of M669 which is meant for coreXYU gives this weird homing issue? I have tried explicitly changing M669 K1 back to K5 with the same matrix and the issue returned, with K1 it is working normal.
-
@vasparshin said in G30, G32 Issues on Duet WiFi CoreXYU with inductive probe:
Error: Invalid kinematics matrix
That error means that the matrix was singular, so that it cannot be inverted. A likely reason is that a whole row or column is all zeros. In other words, there was an axis that none of the motors moves, or a motor that moves none of the axes.
Did you get that error with just the M669 K5 line, or did you have other parameters on that line, or a second M669 command?
EDIT: I have just reproduced this issue. I will log it as a bug to be fixed in the next 3.2beta release.
Duet WiFi hardware designer and firmware engineer
Please do not ask me for Duet support via PM or email, use the forum
http://www.escher3d.com, https://miscsolutions.wordpress.com -
Thank you!
