RRF M669 Kinematics Issue

[DougJones]

RRF 3 issues

My printer (Duet 2 Wifi) has been sitting in my garage for 18 months while i moved back to the US. I've finally gotten around to getting it going again. I am issues with it dropping out, some HTTP error message. Thats not important right now. After a bunch of heartache stepping through firmware and DWC upgrades and switching to an extra Duet 2 Wifi that I had extra, I know sit at

RepRapFirmware for Duet 2 WiFi/Ethernet version 3.4.5 (2022-11-30 19:36:12) running on Duet WiFi 1.02 or later + DueX5v0.11

With DWC 3.4.5

I was previously at FW 2.02 and DWC 1.22

The issue is that my config file is from FW 2.02 that ran great is now offending and as it tries to execute config.g at startup it craps out the wifi. I started with a blank config file and then started adding line by line, until I found the offending line in the config

M669 X1:0:0:0 Y -1:1:0:1 Z 0:0:1:0 U 0:0:0:1 : set custom Kinematics

Now,I have an abnormal kinematics setup, Its sort of like a "double mark forge" setup. 2 Y axis motors and a motor for x and a motor for U axis, each with a giant belt in an H- shape.

Problem is I don't know how to make this line of the config file not crap out. Am I missing a newer parameter in RRF 3?

Update: I guess its a coreXYU by looking at samples on the internet. I have tried adding K1, then K5 and the same thing, wifi drops on power up.

[droftarts]

@DougJones are there spaces after Y, Z and U? Though the firmware isn’t usually that picky. Try removing them if so. M699 should work, so there may be something else in your config that’s causing problems. Perhaps post the whole config.g?

Ian

[DougJones]

@droftarts

Nope, No luck. The config file still hangs. I removed the spaces, then tried to add the K5 parameter for CoreXYU, still no luck.

M669 K5 X1:0:0:0 Y-1:1:0:1 Z0:0:1:0 U0:0:0:1 : set custom Kinematics

[Phaedrux]

Can you post the full config.g file along with the results of M122 and M98 P"config.g" please?

[DougJones]

@Phaedrux
I have confirmed that my config file loads with everything except that one M669 line. I have it commented out at the moment

; Configuration file for Duet WiFi (firmware version 2.03)
; executed by the firmware on start-up
;
; generated by RepRapFirmware Configuration Tool v2.0.4 on Sat Sep 21 2019 11:21:20 GMT+0100 (British Summer Time)

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

; Network
M552 S1            								; enable WiFi (Use DHCP or set IP address with M587)
M586 P0 S1                                      ; enable HTTP
M586 P1 S0         								; disable FTP
M586 P2 S0         								; disable Telnet

; Drives
M569 P0 S0                                      ; physical drive 0 goes backwards - X Axis
M569 P1 S1                                      ; physical drive 1 goes forwards  - Y Axis #1
M569 P2 S0                                      ; physical drive 2 goes backwards - Y Axis #2
M569 P3 S1                                      ; physical drive 3 goes forwards  - EO 
M569 P4 S1                                      ; physical drive 4 goes forwards  - E1	
M569 P5 S0                                      ; physical drive 5 goes backwards - U
M569 P6 S0                                      ; physical drive 6 goes backwards - Z1 
M569 P7 S0                                      ; physical drive 7 goes backwards - Z2 
M569 P8 S0                                      ; physical drive 8 goes backwards - Z3 
M569 P9 S0                                      ; physical drive 8 goes backwards - Z4

;M669 K5 X1:0:0:0 Y-1:1:0:1 Z0:0:1:0 U0:0:0:1					: set custom Kinematics

M584 X0 Y1:2 Z6:7:8:9 U5 E3:4                   			; set drive mapping
M350 X16 Y16 Z4 U16 E16:16 I1                  				; configure microstepping with interpolation
M92 X160 Y160 Z400.00 U80 E418.00:418.00        			; set steps per mm
M566 X600.00 Y600.00 Z5.00 U600.00 E120.00:120.00      		; set maximum instantaneous speed changes (mm/min)
M203 X6000.00 Y6000.00 Z500.00 U6000.00 E1200.00:1200.00 	; set maximum speeds (mm/min) (was 6000)
M201 X500.00 Y500.00 Z40.00 U500.00 E250.00:250.00      	; set accelerations (mm/s^2)
M906 X800 Y800 Z800 U800 E800:800 I30                		; set motor currents (mA) and motor idle factor in per cent
M84 S30                                         			; Set idle timeout

; Quad Z Axis
M671 X-75:500:-75:500 Y0:0:415:415 S10                      ; define 4 leadscrews location & max correction

; Axis Limits
M208 X-75 Y0 Z0 U-5 S1                                		; set axis minima
M208 X430 Y420 Z350 U318 S0                          		; set axis maxima

; Endstops
M574 X1 P"xstop" S1                               	 		; set active low and disabled endstops
M574 Y2 P"ystop" S1
M574 U2 P"e0stop" S1

; Z-Probe
M558 P1 C"zprobe.in" H15 F120 T6000                          ; set Z probe type to unmodulated and the dive height + speeds
G31 P500 X-33.5 Y0 Z3.0                             		; set Z probe trigger value, offset and trigger height
M557 X15:395 Y15:395 S90                        			; define mesh grid



; Heaters
M308 S0 P"bedtemp" Y"thermistor" T100000 B4138 R4700 A"Bed"		; define bed temperature sensor
M308 S1 P"e0temp" Y"thermistor" T100000 B4138 R4700 A"Extruder 0"	; define E0 temperature sensor
M308 S2 P"e1temp" Y"thermistor" T100000 B4138 R4700 A"Extruder 1"	; define E1 temperature sensor

M950 H0 C"bedheat" T0
M950 H1 C"e0heat" T1
M950 H2 C"e1heat" T2

M143 H0 S150                                   			 	; set temperature limit for bed to 150C
M143 H1 S280                                    			; set temperature limit for E0 to 280C
M143 H2 S280                                    			; set temperature limit for E1 to 280C
M140 H0														; set Heater 0 as bed heater



; Chamber Heater
M308 S7 P"e6temp" Y"thermistor" R4700 T100000 B3950 A"Chamber"		; define Chamber temperature sensor
M950 H7 C"!exp.heater7" T7	
M143 H7 S100                                    							; set temperature limit for chamber to 100C
M301 H7 B1 																	; use bang-bang control for the chamber heater
M307 H7 A50 C600 D300 B1
;M307 H7 B1
M141 H7 S0

; Fans
M950 F0 C"fan0"				;E0 hotend cooling fan
M950 F1 C"fan1"				;E1 hotend cooling fan
M950 F2 C"fan2"				;E0 part cooling fan
M950 F3 C"duex.fan3" 		;E1 part cooling fan

M106 P0 H1 T45              ; set fan 0 value. Thermostatic control is turned on Heater 1
M106 P1 H2 T45              ; set fan 1 value. Thermostatic control is turned on Heater 2
M106 P2 S0					;ensure fan is off on startup
M106 P3 S0					;ensure fan is off on startup

; Tools
M563 P0 S"Extruder 0" D0 H1 X0 F2                  ; 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"Extruder 1" D1 H2 X3 F3                  ; define tool 1
G10 P1 X-.4 Y.4 Z-.1                                 ; set tool 1 axis offsets
G10 P1 R0 S0                                    ; set initial tool 1 active and standby temperatures to 0C

Results from m122

2/9/2023, 4:21:45 PM	m122
=== Diagnostics ===
RepRapFirmware for Duet 2 WiFi/Ethernet version 3.4.5 (2022-11-30 19:36:12) running on Duet WiFi 1.02 or later + DueX5v0.11
Board ID: 08DGM-917DA-G4MSD-6J9D8-3S86P-K8UMA
Used output buffers: 1 of 26 (15 max)
=== RTOS ===
Static ram: 23836
Dynamic ram: 76584 of which 0 recycled
Never used RAM 11660, free system stack 184 words
Tasks: NETWORK(notifyWait,25.3%,254) HEAT(notifyWait,0.0%,339) Move(notifyWait,0.0%,363) DUEX(notifyWait,0.0%,24) MAIN(running,73.9%,438) IDLE(ready,0.8%,30), total 100.0%
Owned mutexes: WiFi(NETWORK)
=== Platform ===
Last reset 00:01:46 ago, cause: power up
Last software reset time unknown, reason: TerminateCalled, GCodes spinning, available RAM 38792, slot 2
Software reset code 0x0183 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x00000000 BFAR 0xe000ed38 SP 0x20001f40 Task MAIN Freestk 516 ok
Stack: 0000002b 0045f57b 00000000 2000ce38 20002310 0045f9a7 00000000 0045f2fd 20001f90 0041da03 20001fe0 00000000 2000ce38 00000000 200021dc 00000001 00000000 00463f2b 20001fe0 00000000 2000ce38 00463f2b 0047d670 2000ce38 0041da01 200021dc ffffffff
Error status: 0x00
Step timer max interval 0
MCU temperature: min 25.8, current 32.2, max 32.5
Supply voltage: min 0.0, current 0.5, max 0.9, under voltage events: 0, over voltage events: 0, power good: no
Heap OK, handles allocated/used 0/0, heap memory allocated/used/recyclable 0/0/0, gc cycles 0
Events: 0 queued, 0 completed
Driver 0: ok, SG min n/a
Driver 1: ok, SG min n/a
Driver 2: ok, SG min n/a
Driver 3: ok, SG min n/a
Driver 4: ok, SG min n/a
Driver 5: ok, SG min n/a
Driver 6: ok, SG min n/a
Driver 7: ok, SG min n/a
Driver 8: ok, SG min n/a
Driver 9: ok, SG min n/a
Driver 10: 
Driver 11: 
Date/time: 2023-02-09 16:21:44
Cache data hit count 4088488223
Slowest loop: 6.97ms; fastest: 0.14ms
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 2.1ms, write time 0.0ms, max retries 0
=== Move ===
DMs created 83, segments created 0, maxWait 0ms, bed compensation in use: none, comp offset 0.000
=== MainDDARing ===
Scheduled moves 0, completed 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== AuxDDARing ===
Scheduled moves 0, completed 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== Heat ===
Bed heaters 0 -1 -1 -1, chamber heaters 7 -1 -1 -1, ordering errs 0
Heater 7 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
=== DueX ===
Read count 1, 0.56 reads/min
=== Network ===
Slowest loop: 12.34ms; fastest: 0.00ms
Responder states: HTTP(0) HTTP(0) HTTP(0) HTTP(0) FTP(0) Telnet(0)
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 1.27
WiFi MAC address ec:fa:bc:2d:e2:de
WiFi Vcc 3.40, reset reason Turned on by main processor
WiFi flash size 4194304, free heap 22536
WiFi IP address 192.168.68.152
WiFi signal strength -42dBm, mode 802.11n, reconnections 0, sleep mode modem
Clock register 00002002
Socket states: 0 0 0 0 0 0 0 0

Results from M98 P"config.g"

2/9/2023, 4:25:04 PM	M98 P"config.g"
HTTP is enabled on port 80
FTP is disabled
TELNET is disabled
Heater 7 uses model-derived PID parameters. Use M307 H7 to view them

[Phaedrux]

Have you tried with just M669 K5?

[DougJones]

@Phaedrux
That seems to have loaded the config file without issue. But there is no way that the kinematics are setup correctly, right?

My mistake, I did not apply the config file. When I did, the WIFI dropped and the DUet locked up again.

for reference it is not a corexyu

it is exactly this:

[Phaedrux]

That's quite strange. Can you try something more pedestrian like M669 K1 for a plain corexy? Don't move anything obviously, I just want to know if it causes the same problem.

[DougJones]

@Phaedrux

Yes, same problem is confirmed.

I feel like I've tried every possible combination. Anytime the M669 command is in the config file, the unit seems to lockup with no wifi.

I have to pull the SD card, insert it into the laptop. Comment out that one line and DWC loads and I get a blue light on the wifi module.

If i go into the config file edit it to uncomment the M669 line. The blue light on the wifi module drops and I cannot access the duet.

[dc42]

@DougJones I confirm that there is a bug that is causing the Duet to reset. I am investigating it.

[dc42]

@DougJones this problem is that on this line:

M669 K5 X1:0:0:0 Y-1:1:0:1 Z0:0:1:0 U0:0:0:1 : set custom Kinematics

you have used ':' instead of ';' to introduce the comment. A bug in the RRF handling of some M669 errors is causing the Duet to reset instead of displaying an error message. I will fix the error handling in RRF 3.5 and 3.4.6.

[DougJones]

@dc42

Great. I will try this later today. My eyes must be getting bad....I've stared at that one line for several hours and not noticed.

-Doug

[DougJones]

@dc42

Okay, great that fixed the issue with the config file. Now, onto the second problem.

The Duet keeps disconnecting about once per minute. It shows from M122 as

WiFi Vcc 3.40, reset reason Turned on by main processor

My wifi signal is very good as I installed an access point directly next to the machine. Its the same access point that ran the machine previously in the old house. Its a TP-Link Deco, so I don't have a lot of options for channels and whatnot. I've been through all the other posts about this issue and have yet to find a solution.

WiFi signal strength -34dBm, mode 802.11n, reconnections 0, sleep mode modem

It seems pretty consistant every minute or two the DWC disconnects

2/13/2023, 11:51:11 AM	Connection established
2/13/2023, 11:51:09 AM	Connection interrupted, attempting to reconnect...
HTTP request timed out
2/13/2023, 11:48:38 AM	Connection established
2/13/2023, 11:48:37 AM	Connection interrupted, attempting to reconnect...
HTTP request timed out

I did not have this problem on firmware 2.02. But like I say, the machine has been idle for 18 months and that was way back on firmware 2.02 and now I am on 3.4.5

Results from M122:

2/13/2023, 11:47:25 AM	m122
=== Diagnostics ===
RepRapFirmware for Duet 2 WiFi/Ethernet version 3.4.5 (2022-11-30 19:36:12) running on Duet WiFi 1.02 or later + DueX5
Board ID: 08DGM-917DA-G4MSD-6J9D8-3S86P-K8UMA
Used output buffers: 1 of 26 (16 max)
=== RTOS ===
Static ram: 23836
Dynamic ram: 76588 of which 960 recycled
Never used RAM 10696, free system stack 184 words
Tasks: NETWORK(notifyWait,16.9%,242) HEAT(notifyWait,0.0%,317) Move(notifyWait,0.0%,363) DUEX(notifyWait,0.0%,24) MAIN(running,82.5%,438) IDLE(ready,0.6%,30), total 100.0%
Owned mutexes:
=== Platform ===
Last reset 00:02:33 ago, cause: power up
Last software reset time unknown, reason: TerminateCalled, GCodes spinning, available RAM 38792, slot 0
Software reset code 0x0183 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x0400f000 BFAR 0xe000ed38 SP 0x20001f40 Task MAIN Freestk 516 ok
Stack: 0000002b 0045f57b 00000000 2000ce38 20002310 0045f9a7 00000000 0045f2fd 20001f90 0041da03 20001fe0 00000000 2000ce38 00000000 200021dc 00000001 00000000 00463f2b 20001fe0 00000000 2000ce38 00463f2b 0047d670 2000ce38 0041da01 200021dc ffffffff
Error status: 0x00
Step timer max interval 0
MCU temperature: min 16.5, current 23.6, max 23.9
Supply voltage: min 24.1, current 24.3, max 24.5, under voltage events: 0, over voltage events: 0, power good: yes
Heap OK, handles allocated/used 0/0, heap memory allocated/used/recyclable 0/0/0, gc cycles 0
Events: 0 queued, 0 completed
Driver 0: standstill, SG min n/a
Driver 1: standstill, SG min n/a
Driver 2: standstill, SG min n/a
Driver 3: standstill, SG min n/a
Driver 4: standstill, SG min n/a
Driver 5: standstill, SG min n/a
Driver 6: standstill, SG min n/a
Driver 7: standstill, SG min n/a
Driver 8: standstill, SG min n/a
Driver 9: standstill, SG min n/a
Driver 10: 
Driver 11: 
Date/time: 2023-02-13 11:47:24
Cache data hit count 4294967295
Slowest loop: 22.02ms; fastest: 0.18ms
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 7.1ms, write time 16.9ms, max retries 0
=== Move ===
DMs created 83, segments created 0, maxWait 0ms, bed compensation in use: none, comp offset 0.000
=== MainDDARing ===
Scheduled moves 0, completed 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== AuxDDARing ===
Scheduled moves 0, completed 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== Heat ===
Bed heaters 0 -1 -1 -1, chamber heaters 7 -1 -1 -1, ordering errs 0
Heater 7 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
=== DueX ===
Read count 1, 0.39 reads/min
=== Network ===
Slowest loop: 37.34ms; fastest: 0.00ms
Responder states: HTTP(0) HTTP(0) HTTP(0) HTTP(0) FTP(0) Telnet(0)
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 1.27
WiFi MAC address ec:fa:bc:2d:e2:de
WiFi Vcc 3.40, reset reason Turned on by main processor
WiFi flash size 4194304, free heap 25848
WiFi IP address 192.168.68.152
WiFi signal strength -34dBm, mode 802.11n, reconnections 0, sleep mode modem
Clock register 00002002
Socket states: 0 0 0 0 0 0 0 0

[Phaedrux]

@DougJones Can you verify that your DWC version is also 3.4.5?

You can also try reflashing everything by uploading the full release zip file to the system tab in DWC.

https://github.com/Duet3D/RepRapFirmware/releases/download/3.4.5/Duet2and3Firmware-3.4.5.zip

[DougJones]

@Phaedrux
Yes. DWC is 3.4.5

[DougJones]

@Phaedrux

Yes, everything is re-flashed now and same response

update: I just spent 2 hours getting another AP setup with its own SSID and trying to connect the Duet to that, only to realize that its a 5GHz only AP. I cannot seem to catch a break here. I liked this idea of having a "3D printer only" wireless network to keep it from "hopping" AP nodes on my mesh network. And I has this really nice TP-Link Pharos AP that allowed me complete control to select channels/frequences, etc.

Off to FB marketplace to see if I can get a cheap AP/Router to test with.

[Phaedrux]

For what it's worth I have a very old 2.4ghz router that provides a network for the printers and it's been going strong for years. There have been a few other reports of mesh routers not playing nice.

@DougJones said in RRF M669 Kinematics Issue:

only to realize that its a 5GHz only AP

I didn't realize there was such a thing. I thought they were all combo units.

[dc42]

@DougJones it's probably not relevant to this issue, but running RRF 3.5beta2 with your config.g file I see these startup errors reported:

Error in start-up file macro line 32: Driver 7 does not support x4 microstepping with interpolation
Driver 8 does not support x4 microstepping with interpolation
Driver 9 does not support x4 microstepping with interpolation

These relate to the M350 line. You could avoid them by using two separate M350 lines, one for Z (with I0) and one for the other axes. But is there a reason why you are running Z with just x4 microstepping instead of the usual x16 ?

This board is also running WiFi firmware 1.27 and my WiFi is also a TPLink Deco mesh. The connection is stable. An app on my smartphone indicates that the mesh system is using channel 4.

[DougJones]

@dc42

Okay, I have a new AP installed in the garage with the printer. Its a TP-Link Pharos with b/g/n @ 2.4 GHz. The printer now has its own SSID and its isolated from the DECO system. I'm at about 30 minutes with no disconnections. I am running channel 6 with WPA2-psk with AES and 0 db of antenna boost. This Pharos unit lets me control everything through its web interface.

For reference: I had a TP-Link DECO M5 system for years and it ran great. When we bought the new house a couple of months ago, I upgrade to the Newest, fastest DECOs that support wifi 6E (its an XE 75). The system works great, but this isn't the first device on 2.4Ghz that I have found a little flaky.

wifi section from M122:

= WiFi =
Network state is active
WiFi module is connected to access point 
Failed messages: pending 0, notready 0, noresp 2
WiFi firmware version 1.27
WiFi MAC address ec:fa:bc:2d:e2:de
WiFi Vcc 3.40, reset reason Turned on by main processor
WiFi flash size 4194304, free heap 23824
WiFi IP address 192.168.68.152
WiFi signal strength -36dBm, mode 802.11n, reconnections 0, sleep mode modem
Clock register 00002002
Socket states: 0 0 0 0 0 0 0 0

Regarding the M350 line:

I'm not sure why i am not using x16. I feel like there was a reason for this years ago when Initially set this up. I think that I might have been worried about the weight of the z-axis. At the time, I had 2 ballscrews connecting an aluminum plate x axis. I think I might have been concerned about the drop off in holding torque for x16 microstepping (maybe wrongly, but I think that was the reason).

Now my setup is 4 independent z-axis motors each controlling a ballscrew to do mesh leveling and remove some of the twist in the heated bed. That system works great.

If its okay, I might leave this alone for now, but I can test moving to x16 once I have everything moving again.

M350 X16 Y16 Z4 U16 E16:16 I1                  				; configure microstepping with interpolation

I think you are suggesting that I should do this:

M350 X16 Y16 U16 E16:16 I1                  				; configure microstepping with interpolation
M350 Z4 I0

Update: Well.....she is up and printing again..... Thanks for all the help. WIFI is infinitely more stable now. I'll do a few test prints, dial everything in real good and then I'll have a look at the z axis x16 settings