T1 on IDEX machine goes back to previous position with G1 R2

adammhaile · 16 Mar 2022, 19:31

I have an IDEX machine with T0 and T1 configured.

I have the tfree/tpost files shown below the question (all the global stuff is just constants I can reuse).
The intent here is to lower the bed and park, then select the other tool and raise the bed again, using G1 R2.
My understanding is that before a tool change, the equivalent of G60 R2 occurs, placing the position info in slot 2. So shouldn't need to call that manually.

Switching to T0 works great. Bed lowers, tool comes out, bed raises.
Switching to T1 however ends up being: Bed lowers, tool comes out, bed raises and T1 goes back to where it was (parked position) at the same time.

So it SEEMS like the G1 R2 Z0 is ignoring that I've only specified Z and also returning U (The T1 axis) back to it's previous position.

If I remove that last tpost1.g everything works normally except the bed going back up. So it's definitely that line that's also sending the tool back to the old position as well.

Board/Firmware info:

Board: Duet 3 MB6HC (MB6HC)
DSF Version: 3.4.0
Firmware: RepRapFirmware for Duet 3 MB6HC 3.4.0 (2022-03-15)

Tool Change FIles

;tfree0.g
G91
G1 Z{global.zclearance} F{global.speed_z}
G90
G53 G1 X{global.t0park} F{global.speed_xy} ; park the tool
;fan off
M106 P1 S0

;tfree1.g
G91
G1 Z{global.zclearance} F{global.speed_z}
G90
G53 G1 U{global.t1park} F{global.speed_xy} ; park the tool
;fan off
M106 P3 S0

; tpost0.g
;PCF fan on
M106 R2
;wait for heatup
M116 P0
G90
G1 X0 F6000
G1 R2 Z0

; tpost1.g
;PCF fan on
M106 R2
;wait for heatup
M116 P1
G90
G1 U{global.xsize} F6000
G1 R2 Z0

adammhaile · 17 Mar 2022, 02:36

Further update...
Does not seem to have anything to do with the G1 R2 "remembered position" stuff. I tried updating my tpost and tfree with basic, normal relative move down/up of the bed and get the exact same results on T1.

This is driving me nuts and making it impossible to do multi-extruder prints... granted, in part because PrusaSlicer is being dumb and doesn't emit a Z position if you enable a wipe tower. But that's a whole different issue...

New files:

;tfree1.g

G91
G1 Z{global.zclearance} F{global.speed_z}
G90

G53 G1 U{global.t1park} F{global.speed_xy} ; park the tool

G91
G1 Z{-global.zclearance} F{global.speed_z}
G90

;fan off
M106 P3 S0

; tpost1.g

;PCF fan on
M106 R2

;wait for heatup
M116 P1

G91
G1 Z{global.zclearance} F{global.speed_z}
G90

G1 U{global.xsize} F6000

G91
G1 Z{-global.zclearance} F{global.speed_z}
G90

Also, for good measure, here's my config.g

; Configuration file for Duet 3 (firmware version 3.3)
; executed by the firmware on start-up
;
; generated by RepRapFirmware Configuration Tool v3.3.10 on Mon Feb 14 2022 00:04:10 GMT-0500 (Eastern Standard Time)

; Load global vars
M98 P"globals.g"

; General preferences
G90                                                         ; send absolute coordinates...
M83                                                         ; ...but relative extruder moves
M550 P"Rancor"                                              ; set printer name

; Audio Player Serial Config
M575 P2 B57600 S2                                           ; Setup UART on IO_1 to 57600 baud

; Setup Lights
M950 P0 C"0.out9" Q4000

; Wait a moment for the CAN expansion boards to start
G4 S2

; Drives
M569 P0.0 S0                                                ; Left Y
M569 P0.1 S1                                                ; Left X
M569 P0.2 S0                                                ; Left Extruder
M569 P0.3 S1                                                ; Left Z
M569 P0.4 S1                                                ; Right Rear Z
M569 P0.5 S1                                                ; Right Front Z
M569 P1.0 S1                                                ; Right Y
M569 P1.1 S1                                                ; Right X
M569 P1.2 S0                                                ; Right Extruder

M584 X0.1 U1.1 Y0.0:1.0 Z0.3:0.4:0.5 E0.2:1.2               ; set drive mapping
M350 X16 U16 Y16 Z16 E16:16 I1                              ; configure microstepping with interpolation
M92  X160 U160 Y160 Z1600 E397:397                          ; set steps per mm
M566 X200 U200 Y200 Z100 E1500:1500                         ; set maximum instantaneous speed changes (mm/min)
M203 X10800 U10800 Y10800 Z900 E3600:3600                   ; set maximum speeds (mm/min)
M201 X250 U250 Y250 Z100 E1500                             	; set accelerations (mm/s^2)
M906 X1400 U1400 Y1400 Z1200 E1100:1100 I75                 ; set motor currents (mA) and motor idle factor in per cent
;M84 S30                                                    ; Set idle timeout

;Leadscrew locations
M671 X-13.7:343.8:343.8 Y160:287.5:32.5 S7.5

; Axis Limits
; TODO - these are wild guesses at this point for X
; will need to change mins to negatives
M208 S1 X-85 U0 Y0 Z-2                                            ; set axis minima
M208 S0 X405 U450 Y345 Z600                                      ; set axis maxima

; Endstops
M574 X1 S1 P"0.io2.in"                                        ; X homes low end
M574 U2 S1 P"1.io2.in"                                        ; U homes high end
M574 Y1 S1 P"0.io3.in+1.io3.in"                               ; Y has dual motors and endstops
; TODO - setup homing files https://duet3d.dozuki.com/Wiki/ConfiguringMultipleIndependentXcarriagesCartesian#Section_Homing_files

; Z-Probe
M558 P5 C"^0.io5.in" H2.5 F250 T6000                            ; set Z probe type to switch and the dive height + speeds
G31 P500 X0 Y0 Z1.2                                   ; set Z probe trigger value, offset and trigger height
M557 X15:315 Y20:300 S75:70                                    ; define mesh grid

; Heaters
; Bed
M308 S0 P"0.temp0" Y"thermistor" T100000 B4240                ; configure sensor 0 as thermistor on pin temp0
M950 H0 C"0.out0" T0                                          ; create bed heater output on out0 and map it to sensor 0
M307 H0 B0 R0.611 C647.0 D2.25 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

; Left
M308 S1 P"0.temp1" Y"thermistor" T100000 B4725 C7.06e-8       ; configure sensor 1 as thermistor on pin temp1
M950 H1 C"0.out1" T1                                          ; create nozzle heater output on out1 and map it to sensor 1
M307 H1 R2.616 K0.237:0.348 D5.69 E1.35 S1.00 B0 V23.9      ; disable bang-bang mode for heater  and set PWM limit
M143 H1 S285                                                ; set temperature limit for heater 1 to 280C

; Right
M308 S2 P"1.temp0" Y"thermistor" T100000 B4725 C7.06e-8     ; configure sensor 2 as thermistor on pin 1.temp0
M950 H2 C"1.out0" T2                                        ; create nozzle heater output on 1.out0 and map it to sensor 2
M307 H1 R2.616 K0.237:0.348 D5.69 E1.35 S1.00 B0 V23.9      ; disable bang-bang mode for heater  and set PWM limit
M143 H2 S285                                                ; set temperature limit for heater 2 to 280C

; Fans
; left HEF
M950 F0 C"0.out7"                                             ; create fan 0 on pin out7 and set its frequency
M106 P0 S1 H1 T45                                         ; set fan 0 value. Thermostatic control is turned on
; Left PCF
M950 F1 C"0.out8"                                             ; create fan 1 on pin out8 and set its frequency
M106 P1 S0 H-1                                              ; set fan 1 value. Thermostatic control is turned off
; Right HEF
M950 F2 C"1.out7"                                           ; create fan 2 on pin 1.out7 and set its frequency
M106 P2 S1 H2 T45                                         ; set fan 2 value. Thermostatic control is turned on
; Right PCF
M950 F3 C"1.out8"                                           ; create fan 3 on pin 1.out8 and set its frequency
M106 P3 S0 H-1                                               ; set fan 3 value. Thermostatic control is turned on

; Tools
; Left
M563 P0 S"Left" D0 X0 H1 F1                                    ; define tool 0
G10 P0 X-71.5 Y-20.6 Z0                                             ; set tool 0 axis offsets
G10 P0 R0 S0                                                ; set initial tool 0 active and standby temperatures to 0C

; Right
M563 P1 S"Right" D1 X3 H2 F3                                   ; define tool 1
G10 P1 X-0.2 Y-20.1 Z0.35                                            ; set tool 1 axis offsets
G10 P1 R0 S0                                                ; set initial tool 1 active and standby temperatures to 0C

; extra sensors
M308 S10 Y"mcu-temp" A"MCU"                           ; defines sensor 10 as MCU temperature sensor

; Miscellaneous
T0 P0                                                         ; select first tool

adammhaile · 17 Mar 2022, 03:10

I figured it out... but still confused as to why.
In tfree1 and tpost1 I was using U instead of X like I had seen in other examples. It also made sense to me because I figured I was "between" tools so U is the correct axis to address. But I switched to using X and it all works as intended now. Even with G1 R2 Z0

@dc42 any chance you can explain why it doesn't work with U?

triada13 · 25 Mar 2022, 07:05

@adammhaile good afternoon.
I'm building an Idex machine based on Cartesian kinematics.
Faced with such a problem:
When trying to print a calibration file, the left head prints normally, then when it comes time to change the tool, the following happens:

Z rises
the left head is parked
the right head comes out of the parking
lot and starts printing with the right head, but there is no lowering of the Z axis. And accordingly, there is a seal in the air.
My files:
config.g

; Configuration file for SKR-RFF-E3-v1.1 (firmware version 3)
; executed by the firmware on start-up
;
; generated by RepRapFirmware Configuration Tool v3.2.1-LPC+13 on Wed Jun 09 2021 00:06:10 GMT+0500 (Екатеринбург, стандартное время)
M80 C"pson"
; General preferences
G90                                            ; send absolute coordinates...
M83                                            ; ...but relative extruder moves
M550 P"3D Rag IDEX"                            ; set printer name

; Network
M552 S1                                        ; enable network
M586 P0 S1                                     ; enable HTTP
M586 P1 S0                                     ; disable FTP
M586 P2 S0                                     ; disable Telnet

; Drives
M569 P0 S0                                     ; physical drive 0 goes forwards using TMC2209 driver timings
M569 P1 S1                                     ; physical drive 1 goes forwards using TMC2209 driver timings
M569 P2 S1                                     ; physical drive 2 goes forwards using TMC2209 driver timings
M569 P3 S1                                     ; physical drive 3 goes forwards using TMC2209 driver timings
M569 P4 S1                                     ; physical drive 3 goes forwards using TMC2209 driver timings
M569 P5 S1                                     ; physical drive 3 goes forwards using TMC2209 driver timings

M584 X0 Y1 Z2 E3:5  A4 ;B5                                         ; set drive mapping
M350 X16 Y16 Z16 E16:16 A16  I1                                    ; configure microstepping with interpolation
M92 X80.00 Y80.00 Z400.00 E404.00:404.00 A80.00                    ; set steps per mm
M566 X900.00 Y900.00 Z60.00 E120.00:120.00 A900.00                 ; set maximum instantaneous speed changes (mm/min)
M203 X24000.00 Y7200.00 Z4800.00 E1200.00:1200.00 A12000.00        ; set maximum speeds (mm/min)
M201 X1000.00 Y500.00 Z20.00 E250.00:250.00 A500.00                ; set accelerations (mm/s^2)
M906 X800 Y800 Z800 E800:800 A800.00  I30                          ; set motor currents (mA) and motor idle factor in per cent
M84 S30                                                            ; Set idle timeout

; Axis Limits
M208 X-52 Y-13.5 Z0 A0 S1                           ; set axis minima
M208 X300 Y227 Z350 A350 S0                         ; set axis maxima

; Endstops
;M574 X1 S3                                     ; configure sensorless endstop for low end on X
;M574 Y2 S1                                     ; configure sensorless endstop for low end on Y
M574 X1 S3 ;P"xstop"
;M574 Y1 S1 P"!ystop"
M574 Y1 S3 ;P"ystop"
M574 Z1 S2                                       ; configure Z-probe endstop for low end on Z
M574 A1 S3


; Z-Probe
;M558 P5 C"^probe" H5 F120 T6000                ; set Z probe type to switch 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 Z2.5                            ; set Z probe trigger value, offset and trigger height
;M557 X15:215 Y15:195 S20                       ; define mesh grid

M950 S0 C"servo0"                                       ; create servo pin 0 for BLTouch
M558 P9 C"^probe" H5 F400 T6000                         ; set Z probe type to bltouch 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 X16 Y8 Z3.5                                     ; set Z probe trigger value, offset and trigger height
M557 X5:295 Y5:195 S20                                ; define mesh grid

; Heaters
M308 S0 P"bedtemp" Y"thermistor" T100000 B4092 ; configure sensor 0 as thermistor on pin bedtemp
M950 H0 C"bed" T0                              ; create bed heater output on bed and map it to sensor 0
M307 H0 B0 S1.00                               ; disable bang-bang mode for the bed heater and set PWM limit
M140 H0                                        ; map heated bed to heater 0
M143 H0 S150 A3 C0                             ; set temperature limit for heater 0 to 120C
M143 H0 S120                                   ; set temperature limit for heater 0 to 120C
M308 S1 P"e0temp" Y"thermistor" T100000 B4092  ; 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
M143 H1 S280                                   ; set temperature limit for heater 1 to 280C
M308 S2 P"e1temp" Y"thermistor" T100000 B4092  ; 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
M143 H2 S280 A3 C0                             ; set temperature limit for heater 2 to 280C

; Fans
;M950 F0 C"fan0" Q500                           ; create fan 0 on pin fan0 and set its frequency
;M106 P0 S0 H-1                                 ; set fan 0 value. Thermostatic control is turned off
M950 F0 C"fan0" Q500                            ; create fan 0 on pin fan0 and set its frequency
M106 P0 S0 H1 T45                               ; set fan 0 value. Thermostatic control is turned on
M950 F1 C"fan1" Q50                            ; create fan 1 on pin fan1 and set its frequency
M106 P1 S0 H-1                                  ; set fan 1 value. Thermostatic control is turned off
M950 F2 C"fan2" Q5000                            ; create fan 2 on pin fan2 and set its frequency
M106 P2 S0 H2 T45                               ; set fan 2 value. Thermostatic control is turned on
M950 F3 C"fan3" Q5000                            ; create fan 3 on pin fan3 and set its frequency
M106 P3 S0 H-1                                  ; set fan 3 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 P0 S"Head-Left" D0 H1 ; tool 0 uses extruder 0 and heater 1
G10 P0 X0 Y0 Z0 S0 R0 ; set tool 0 offsets and temperatures

;M563 P0 S"Head-Left" D0 H1 F0:1                         ; 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 S"Head_Right" D1 H2 X3 F2 ; tool 1 uses extruder 1 and heater 2 and maps X to U, use fan 2 as the print cooling fan
G10 P1 Y0 U0 Z0 S0 R0 ; set tool 1 offsets and temperatures

;M563 P1 S"Head_Right" D1 H2 F0:3                        ; define tool 1
;G10 P1 X0 Y0 Z0                                         ; set tool 1 axis offsets
;G10 P1 R0 S0                                            ; set initial tool 1 active and standby temperatures to 0C








; Custom settings are not defined

; Miscellaneous
	M575 P1 S1 B115200                            ; enable support for tft

T0                                                      ; select first tool

; NeoPixel settings
;M150 X2 Q3000000; установите тип светодиода на NeoPixel и установите частоту SPI на 3 МГц	

; Led settigs
; Настройки работы подсветки с нефиксирующейся кнопки (при нажатии кнопки происходит запуск триггера, который меняет
; текущее состояние подсветки на противоположное - вкл/выкл)

;M950 P9 C"Neopixel" Q500            ;Обьявляем управляемый выход управления подсветкой (вешаем на пин управления LED RGB) 
;M42 P9 S0                           ;Выключаем подсветку (5v) при включении принтера

; настройки для триггера изменения состояния LED-подсветки
;M950 J9 C"e4stop"                   ;обьявляем/создаем концевик (номер логического контакта 9, больше не дает сделать...), порт G.15 (разьем J34, имя e4stop) 
;M581 P9 T9 S1 R0                    ;включаем триггер (номер логического контакта 9 - P9, логический триггер 9 - T9 (имя триггера trigger9.g), 
                                    ; запуск по фронту из неактивного в активный уровень - S1, запускать в любое время - R0)

;M915 XY R0 F0

M501                                           ; load saved parameters from non-volatile memory

tfree0.g

; tfree0.g
; вызывается, когда инструмент 0 освобожден
;
; generated by RepRapFirmware Configuration Tool v3.2.1-LPC+13 on Wed Jun 09 2021 00:06:12 GMT+0500 (Екатеринбург, стандартное время)

M83               	; относительное перемещение экструдера
G1 E-10 F3600      	; retract 2mm
M106 S0           	; выключите наш вентилятор охлаждения печати
G91               	; относительное перемещение оси
G1 Z10 F500       	; up 10mm
G90               	; перемещение по абсолютной оси
G1 H2 X-48 F6000  	; припаркуйте каретку X на расстоянии -48 мм - используйте S2 с RRF 2.01 и более ранними версиями

tfree1.g

; tfree1.g
; вызывается, когда инструмент 1 освобожден
;
; generated by RepRapFirmware Configuration Tool v3.2.1-LPC+13 on Wed Jun 09 2021 00:06:12 GMT+0500 (Екатеринбург, стандартное время)

M83               	; относительное перемещение экструдера
G1 E-10 F3600      	; retract 2mm
M106 S0           	; выключите наш вентилятор охлаждения печати
G91               	; относительное перемещение оси
G1 Z10 F500       	; up 10mm
G90               	; перемещение по абсолютной оси
G1 H2 A350 F6000  	; припаркуйте каретку A на расстоянии 350 мм - используйте S2 с RRF 2.01 и более ранними версиями

tpost0.g

; tpost0.g
; вызывается после выбора инструмента 0
;
; generated by RepRapFirmware Configuration Tool v3.2.1-LPC+13 on Wed Jun 09 2021 00:06:12 GMT+0500 (Екатеринбург, стандартное время)
; Wait for set temperatures to be reached
;M116 P0

M106 R2           ; восстановите скорость вентилятора охлаждения печати
M116 P0           ; подождите, пока нагреватели инструмента 0 достигнут рабочей температуры
M83               ; относительное перемещение экструдера
G1 E10 F3600      ; выдавливать 2 мм
;G91               ; относительное перемещение оси
;G1 Z-10 F500      ; up 10mm

tpost1.g

; tpost1.g
; вызывается после выбора инструмента 1
;
; generated by RepRapFirmware Configuration Tool v3.2.1-LPC+13 on Wed Jun 09 2021 00:06:12 GMT+0500 (Екатеринбург, стандартное время)
; Wait for set temperatures to be reached




M106 R2           ; восстановите скорость вентилятора охлаждения печати
M116 P1           ; подождите, пока нагреватели инструмента 0 достигнут рабочей температуры
M83               ; относительное перемещение экструдера
G1 E10 F3600       ; выдавливать 10 мм
;G91               	; относительное перемещение оси
;G1 Z-10 F500       	; up 10mm

dc42 · 25 Mar 2022, 11:42

@triada13 try putting G1 R2 Z2 X0 Y0 followed by G1 R2 Z0 at the end of your tpost#.g files.

triada13 · 25 Mar 2022, 12:09

@dc42 Thank you very much. I'll try it now

triada13 · 25 Mar 2022, 12:32

@dc42 I tried, the T1 tool prints in the air.

dc42 · 25 Mar 2022, 14:23

@triada13 that's odd. The G1 R2 Z2 X0 Y0 command should position the new tool 2mm above the point at which the old tool was when the tool change was commanded, and the G1 R2 Z0 command should lower it the final 2mm.

triada13 · 25 Mar 2022, 15:04

@dc42 said in T1 on IDEX machine goes back to previous position with G1 R2:

G1 R2 Z0
~~I don't think I have it. Where do I need to register it?~~
Thank you very much.