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    Core XYU Z Movement Issue

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    • pcsentinelundefined
      pcsentinel @Phaedrux
      last edited by

      Because there is a fault with K5 that is not corrected until V3. I do not really want to go to V3 yet.

      https://forum.duet3d.com/topic/20164/g30-g32-issues-on-duet-wifi-corexyu-with-inductive-probe/7?_=1612371745630

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      • dc42undefined
        dc42 administrators @pcsentinel
        last edited by

        @pcsentinel said in Core XYU Z Movement Issue:

        I have just started to work towards dual printing, but the issue I have just discovered is that when X is active then Z movement is as you would expect, however when U is active and you try and change Z then the Z Carriage moves as expected but at the same time the U carriage is moved towards its home location.

        Are you sure you mjean Z and not Y? What is the "Z carriage"?

        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

        pcsentinelundefined 1 Reply Last reply Reply Quote 0
        • pcsentinelundefined
          pcsentinel
          last edited by pcsentinel

          Hi DC42, following further tests, it seems to happen with both Y and Z instructions. So with the attached video, The active tool is Tool 1 (U) and I have sent a G1 Z25. The U Carriage moves back to Home and the Z Carriage moves down . If you then send a U-1 from the console. the U moves back to its original location and 1 left.IMG_3633.mp4

          When Tool 0 is active (X) then all works properly.

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          • Phaedruxundefined
            Phaedrux Moderator
            last edited by

            What that homing move shown in the video?

            Can you pot your homing files and any tool change files?

            Z-Bot CoreXY Build | Thingiverse Profile

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            • pcsentinelundefined
              pcsentinel
              last edited by pcsentinel

              The homing move was not called, that just occurs when you do a Z or Y move, that's the whole issue. The tool files are empty.

              If I make Tool 0 o r Tool 2 active (which does not exist I know), then Z and Y moves act as expected. This only occurs when Tool 1 is active

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              • hackinistratorundefined
                hackinistrator
                last edited by

                why do you have v axis defined ?

                pcsentinelundefined 1 Reply Last reply Reply Quote 0
                • pcsentinelundefined
                  pcsentinel @hackinistrator
                  last edited by pcsentinel

                  @hackinistrator Because I am using the same logic as worked out in https://forum.duet3d.com/topic/16375/core-xyu-or-xyuv/25?_=1615925048500

                  Which means (as far as I understand) you have 4 motors for a core XYU all of which need to move independently to achieve XY or UY movement.

                  As I've said above, All X Y U Z movement works absolutely fine when T0 is the active tool, than anomaly only happens when T1 is active.

                  hackinistratorundefined 1 Reply Last reply Reply Quote 0
                  • hackinistratorundefined
                    hackinistrator @pcsentinel
                    last edited by

                    @pcsentinel i think you are making a mess .

                    for dual carriage (coreXY) printer , if you have 2 motors for each carriage , then its XYUV .
                    if the second carriage connected to a single motor then its XYU .
                    your matrix defined as XYU , but drive mapping its XYUV .
                    how is the second carriage actually connected ?

                    pcsentinelundefined 1 Reply Last reply Reply Quote 0
                    • pcsentinelundefined
                      pcsentinel @hackinistrator
                      last edited by

                      @hackinistrator Sorry, but I think you are wrong, please see: the link from above. Also the firmware code from the Duet is as follows:

                      case KinematicsType::coreXYU:
                      	// Core XYU is like CoreXY with an additional U axis controlled by the U and V motors
                      	inverseMatrix(0, 1) = 1.0;
                      	inverseMatrix(1, 0) = 1.0;
                      	inverseMatrix(1, 1) = -1.0;
                      	inverseMatrix(1, 3) = 1.0;
                      	inverseMatrix(1, 4) = -1.0;
                      	inverseMatrix(3, 4) = 1.0;
                      	inverseMatrix(4, 4) = 0.0;		// V can't be commanded directly
                      	break;
                      
                      case KinematicsType::coreXYUV:
                      	// CoreXYUV is a dual CoreXY setup
                      	inverseMatrix(0, 1) = 1.0;
                      	inverseMatrix(1, 0) = 1.0;
                      	inverseMatrix(1, 1) = -1.0;
                      	inverseMatrix(3, 4) = 1.0;
                      	inverseMatrix(4, 3) = 1.0;
                      	inverseMatrix(4, 4) = -1.0;
                      	break;
                      

                      i.e. a core XYUV effectively has two XY carriages whereas a Core XYU has 2 heads mounted on a single Y carriage.

                      I am guessing I have 1 setting wrong somewhere that is causing this issue. Do you have a Core XYU machine, if so maybe you could post the config.g so that I can do a comparison.

                      Rushmere3Dundefined hackinistratorundefined 2 Replies Last reply Reply Quote 0
                      • Rushmere3Dundefined
                        Rushmere3D @pcsentinel
                        last edited by

                        @pcsentinel

                        Can you post some pictures of your machine?

                        Follow my adventures in 3D Printing, laser cutting and electronics. https://linktr.ee/Rushmere3D

                        pcsentinelundefined 1 Reply Last reply Reply Quote 0
                        • hackinistratorundefined
                          hackinistrator @pcsentinel
                          last edited by

                          @pcsentinel please tell hoy many motors connected to your second carriage .
                          its possible to make coreXYUV with single gantry , if 2 motors control second carriage .

                          pcsentinelundefined 1 Reply Last reply Reply Quote 0
                          • pcsentinelundefined
                            pcsentinel @hackinistrator
                            last edited by

                            @hackinistrator There are4 motors controlling the XYU carriage. please see my post above which shows you that the firmware defines that as being core XYU

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                            • hackinistratorundefined
                              hackinistrator
                              last edited by

                              then its core XYUV , your m669 is wrong .

                              pcsentinelundefined 1 Reply Last reply Reply Quote 0
                              • pcsentinelundefined
                                pcsentinel @hackinistrator
                                last edited by

                                @hackinistrator 4 motors:

                                case KinematicsType::coreXYU:
                                // Core XYU is like CoreXY with an additional U axis controlled by the U and V motors
                                inverseMatrix(0, 1) = 1.0;
                                inverseMatrix(1, 0) = 1.0;
                                inverseMatrix(1, 1) = -1.0;
                                inverseMatrix(1, 3) = 1.0;
                                inverseMatrix(1, 4) = -1.0;
                                inverseMatrix(3, 4) = 1.0;
                                inverseMatrix(4, 4) = 0.0; // V can't be commanded directly
                                break;

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                                • pcsentinelundefined
                                  pcsentinel @Rushmere3D
                                  last edited by pcsentinel

                                  @Rushmere3D Hi, please see the video linked above and below.

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                                  • hackinistratorundefined
                                    hackinistrator
                                    last edited by hackinistrator

                                    you defined custom matrix , not just K5 or K8 . your m669 is wrong .
                                    if you have 4 motors for XYUV
                                    matrix should be something like that :

                                    M669 X1:1:0:0:0   Y1:-1:0:1:-1 Z0:0:1:0:0 U0:0:0:1:1 V1:-1:0:1:-1
                                    
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                                    • pcsentinelundefined
                                      pcsentinel
                                      last edited by

                                      I will look at the matrix, but I am failing to understand the relationship to the actual issue, which is that when Tool 0 is active then everything works fine, but when Tool 1 is active then the U is parked for any Y or Z moves.

                                      To prove it, here is a video taken with Tool 0 active.x1.mp4

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                                      • pcsentinelundefined
                                        pcsentinel
                                        last edited by pcsentinel

                                        Well, I am now even more confused, I have tried various options including changing the matrix to
                                        M669 X1:1:0:0:0 Y1: -1:0:1:-1 Z0:0:1:0:0 U0:0:0:1:1 V0:0:0:0:1

                                        moving M584 to above M669

                                        But I have now discovered that the issue is intermittent, so when Tool 0 is active then everything always works fine, but when Tool 1 is active, sometimes a G1 Z5 will move the U carriage to its home position (without being told to) whilst at the same time Z moves as instructed, other times just the Z carriage moves as expected.

                                        And its not after a config change. Sometimes its as if some internal variable is set or cleared. So everything works, and then you give an instruction and following that the aberration occurs again.

                                        The other thing I have noticed is in the pics, If X is homed to -94 (pic1) and then I make Tool 1 active the X location is shown as the U location in the interface.pic1.PNG pic2.PNG

                                        hackinistratorundefined 1 Reply Last reply Reply Quote 0
                                        • hackinistratorundefined
                                          hackinistrator @pcsentinel
                                          last edited by

                                          @pcsentinel said in Core XYU Z Movement Issue:

                                          V0:0:0:0:1

                                          why ?
                                          V should be same as Y .

                                          pcsentinelundefined 1 Reply Last reply Reply Quote 0
                                          • pcsentinelundefined
                                            pcsentinel @hackinistrator
                                            last edited by

                                            @hackinistrator Same result, no change.

                                            hackinistratorundefined 1 Reply Last reply Reply Quote 0
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