Dual independent motors on Y not working (stupid user likely)

crpalmer

I have successfully used dual independent y motors on multiple printers and just verified that one of these really is working correctly (homes each motor to the corresponding endstop).

A new printer that I've been commissioning looks to me to be configured equivalently doesn't work correctly. This printer homes and to whichever endstop is triggered first and never triggers the second one. I can verify that it's only using one endstop either by manually triggering it or even just by making the gantry very offset which then homes to the very offset gantry position.

Both the machine that is working and the one I'm having trouble with are running RRF 3.5.2 and both are based on Duet 3 Mini 5+ boards. The one that is working has the endstops and motors on a CAN connected board and the one that is not working is connected directly to the Duet 3 Mini 5+ (using the 2 stepper expansion board for these 2 motors) with the endstops also connected to the main board.

Given that I know the software works and I have verified it works, that only leaves the fact that I'm being stupid. Can someone tell me what I've done wrong here?

The output of M574 M584:

Endstop configuration:
X: high end switch connected to pin !121.io2.in, min interval 30ms
Y: high end switches connected to pins !io5.in !io6.in
Z: none
Driver assignments: X0.0 Y0.5:0.6 Z0.1:0.2:0.4:0.3 E121.0, 3 axes visible

and the full config.g is:

global includeDuplication = 0

global xMin = 0
global xMax = 625
global yMin = 0
global yMax = 600
global zMax = 600
global xCenter = 300
global yCenter = 300
global zprobe_x = 0
global zprobe_y = 75

global klicky_is_manual = true
global klicky_pre_x = 113.8
global klicky_pre_y = 180
global klicky_dock_x = global.klicky_pre_x
global klicky_dock_y = 220
global klicky_release_x = global.klicky_dock_x - 50
global klicky_release_y = global.klicky_dock_y
global klicky_servo_up = 1660
global klicky_servo_down = 575
global klicky_n_deploys = 0

global in_filament_error = false

G4 S2 ; wait for expansion boards to start

; General preferences
G90                                                    ; send absolute coordinates...
M83                                                    ; ...but relative extruder moves

; Drives
M569 P0.0 S0 ; D3                                        ; x
M569 P0.1 S0 ; D3                                        ; z1 (front left)
M569 P0.2 S0 ; D3                                        ; z2 (back left)
M569 P0.3 S0 ; D3                                        ; z4 (front right)
M569 P0.4 S1 ; D3                                        ; z3 (back right)
M569 P0.5 S0 ; D3                                        ; y2 (right)
M569 P0.6 S0 ; D3                                        ; y1 (left)
M569 P121.0 S1 ; D3                                      ; e

M584 X0.0 Y0.5:0.6 Z0.1:0.2:0.4:0.3 E121.0               ; set drive mapping

; Z leadscrew positions
M671 X-100:-100:680:680 Y70:530:530:70 S5

M92 X53.33 Y53.33 Z600 E680                            ; set steps per mm (recommended; 690 orbiter)
M350 X16 Y16 Z16 E16 I1                                ; Configure microstepping with interpolation

M566 X600.00 Y600.00 Z240.00 E300 P1                   ; set maximum instantaneous speed changes (mm/min)
M203 X24000.00 Y24000.00 Z600.00 E7200                 ; set maximum speeds (mm/min)
M201 X1000.00 Y1000.00 Z500.00 E5000                   ; set accelerations (mm/s^2)
M906 X1200 Y1200 Z1200 I30
M906 E900 I10                                          ; set motor currents (mA) and motor idle factor in per cent
M84 S30                                                ; Set idle timeout

; Axis Limits
M208 X{global.xMin} Y{global.yMin} Z0 S1                ; set axis minima
M208 X{global.xMax} Y{global.yMax} Z{global.zMax} S0    ; set axis maxima

; Endstops
M574 X2 S1 P"!121.io2.in"                               ; configure active-high endstop for low end on X
M574 Y2 S1 P"!0.io5.in+!0.io6.in"                       ; configure active-high endstop for high end on Y

; Z-Probe
;M950 S0 C"io1.out"                                     ; servo pin definition
M558 P8 C"^121.io1.in" H5 F200 T24000
G31 X{global.zprobe_x} Y{global.zprobe_y} Z6.55 P25
M557 X100:500 Y100:500 P9                               ; define mesh grid
M376 H3

; Filament sensor (BTT SFS 2.0)
M591 D0 P7 C"121.io0.in" L3.024 R90:110 E9 S1
;M591 D0 P7 C"io4.in" P1 S1

; Accelerometer (toolboard), input shaping and pressure advance
M955 P121.0 I10                                        ; Z+ -> Y+ and X+ -> X+
m593 P"zvd" F38.5 S0.1
M572 D0 S0.05

; Fans (tool 0)
M950 F0 C"121.out1" Q250                               ; create fan and set its frequency
M106 P0 S0 H-1 C"part"                                 ; set fan value (off). Thermostatic control is turned off
M950 F1 C"121.out2" Q500                               ; create fan and set its frequency
M106 P1 S1 T45 H1 C"hotend"                            ; set fan value (on). Thermostatic control is turned on

; Fans (board cooling)
M308 S10 Y"mcu-temp" A"MCU"                            ; defines sensor 10 as MCU temperature sensor
M308 S11 Y"drivers" A"Duet stepper drivers"            ; defines sensor 11 as stepper driver temperature sensor
M950 F2 C"out5" Q500                                   ; create fan and set its frequency
M106 P2 S1 H-1  C"board"                               ; set fan value (on).  Thermostatic control is turned off
M106 P2 H10:11 T32 C"board"; set fan 2 value

; Bed Heater
;M308 S0 P"temp0" Y"thermistor" T100000 B4734 C1.153746e-7 ; configure sensor
M308 S0 P"temp0" Y"thermistor" T100000 B3950 ; configure sensor
M950 H0 C"out0" T0                                     ; create bed heater output and map it to sensor 0
M307 H0 R0.212 K0.115:0.000 D9.15 E1.35 S1.00 B0
M140 H0                                                ; map heated bed to heater 0
M143 H0 S120                                           ; set temperature limit for heater 0 to 120C

; thermistor (e3d)
M308 S1 P"121.temp0" Y"thermistor" T100000 B4725 C7.06e-8  ; configure sensor
M950 H1 C"121.out0" T1                                     ; create nozzle heater output and map it to sensor 1

; revo 40w
M307 H1 R3.488 K0.464:0.226 D1.62 E1.35 S1.00 B0 V24.1
M563 P0 S"E3Dv6" D0 H1 F0                              ; define tool 0
G10 P0 R0 S0                                           ; Set initial tool 0 active and standby temperatures to 0C

; Servo for klicky
;M950 S1 C"out6" ; assign GPIO port 1 to out9 (Servo header), servo mod
;M280 P1 S{global.klicky_servo_down}

; Miscellaneous
M912 P0 S0
T0

and homey.g:

G91               ; relative positioning
G1 H2 Z5 F6000    ; lift Z relative to current position
G1 H1 Y+650 F1800 ; move quickly to Y axis endstop and stop there (first pass)
G1 H2 Y-5 F6000   ; go back a few mm
G1 H1 Y+10 F360   ; move slowly to Y axis endstop once more (second pass)
G1 H2 Z-5 F6000   ; lower Z again
G90               ; absolute positioning

gloomyandy

@crpalmer It looks like you are using active low endstops, how are these wired are they using normally open or normally closed switches? How long are the cables to the endstops and do they run alongside other wires? Is there any chance that the second endstop is picking up a pulse from other one? In general it is better to wire the endstop using a normally closed switch with gnd and signal and configuring them as active high. See: https://docs.duet3d.com/en/User_manual/Connecting_hardware/Sensors_endstops

crpalmer

@gloomyandy Yes, I normally use active-low endstops. The ones I bought recently were wired as active high and I just left them as-is. I just rewired them to make them active-low and that does indeed seem to have solved the problem (not that I understand how it was a problem...). Thanks!