Error: This kinematics does not support auto-calibration

meki05

I have a Corexy printer big size and I'm facing an error: This kinematics does not support auto-calibration.
When I use the G32 command, the X and Y axes move to the center of the bed and raise the bed until it touches the probe. Then it moves to select four points. After selecting the fourth point, the error message appears: This kinematics does not support auto-calibration.
I don't know what's causing the problem. I use four motors in the Z axis.
file bed.g

M280 P0 S160 ; BLTouch deploy
M561         ; clear bed compensation
G28          ; home all axes

G30 P0 X10 Y1100 Z-99999        ; motor 0.3 (left back corner)
G30 P1 X10 Y10 Z-99999          ; motor 0.2 (left front corner)
G30 P2 X1100 Y10 Z-99999        ; motor 0.5 (right front corner)
G30 P3 X1100 Y1100 Z-99999 S4   ; motor 0.4 (right back corner), final point to level 4 motors

file config.g

; Configuration file for RepRapFirmware on Duet 3 Main Board 6HC
; executed by the firmware on start-up
;
; generated by RepRapFirmware Configuration Tool v3.5.8 on Thu Jan 09 2025 09:36:34 GMT-0800 (Pacific Standard Time)

; General
G90 ; absolute coordinates
M83 ; relative extruder moves
M550 P"Duet 3" ; set hostname

; Accessories
M575 P2 S0 B57600 ; configure PanelDue support

; Network
M552 P0.0.0.0 S1 ; configure Ethernet adapter
M586 P0 S1 ; configure HTTP

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

; Accelerometers
M955 P121.0 I20 ; configure accelerometer on board #121

; Smart Drivers
M569 P0.0 S1 D2 ; driver 0.0 goes forwards (X axis)
M569 P0.1 S1 D2 ; driver 0.1 goes forwards (Y axis)
M569 P0.2 S1 D2 ; driver 0.2 goes forwards (Z axis)
M569 P0.3 S1 D2 ; driver 0.3 goes forwards (Z axis)
M569 P0.4 S1 D2 ; driver 0.4 goes forwards (Z axis)
M569 P0.5 S1 D2 ; driver 0.5 goes forwards (Z axis)
M569 P121.0 S1 D2 ; driver 121.0 goes forwards (extruder 0)

; Motor Idle Current Reduction
M906 I30 ; set motor current idle factor
M84 S30 ; set motor current idle timeout

; Axes
; Define positions of Z motors
M584 X0.0 Y0.1 Z0.2:0.3:0.4:0.5 ; map Z to drivers 0.2, 0.3, 0.4, 0.5
M671 X0:0:1110:1110 Y0:1110:1110:0 S0.5 ; positions of Z motors, max deviation 1mm
M350 X16 Y16 Z16 I1 ; configure microstepping with interpolation
M906 X2500 Y2500 Z2500 ; set axis driver currents
M92 X20 Y20 Z6400 ; configure steps per mm
M208 X0 Y0 Z0 S1 ; set minimum axis limits
M208 X1110 Y1110 Z2005 S0 ; set maximum axis limits
M566 X1200 Y1200 Z200 ; set maximum instantaneous speed changes (mm/min)
M203 X12000 Y12000 Z300 ; set maximum speeds (mm/min)
M201 X1500 Y1500 Z300 ; set accelerations (mm/s^2)
M557 X50:10600 Y50:1060 S264 ; define mesh grid for compensation

; Extruders
M584 E121.0 ; set extruder mapping
M350 E16 I1 ; configure microstepping with interpolation
M906 E800; set extruder driver current
M92 E420 ; configure steps per mm
M566 E120 ; set maximum instantaneous speed changes (mm/min)
M203 E3600 ; set maximum speeds (mm/min)
M201 E250 ; set accelerations (mm/s^2)

; Kinematics
M669 K1 ; configure CoreXY kinematics

; Probes
M558 K0 P9 C"^121.io0.in" H5 F120 T6000 A5 S0.02 ; configure BLTouch probe
G31 P500 X0 Y0 Z0.7 ; set Z probe trigger value, offset and trigger height
M950 S0 C"121.io0.out" ; create servo for BLtouch

; Endstops
M574 X1 P"121.io1.in" S1 ; configure X endstop
M574 Y1 P"io0.in" S1 ; configure Y endstop
M574 Z1 S2 ; configure Z endstop

; Sensors
M308 S2 P"temp0" Y"pt1000" A"Heated Bed1" ; configure bed sensor 1
M308 S3 P"temp1" Y"pt1000" A"Heated Bed2" ; configure bed sensor 2
M308 S4 Y"average" A"Bed Temp" H2:3 ; average of S2 and S3
M308 S1 P"121.temp0" Y"pt1000" A"Nozzle" ; configure nozzle sensor

; Heaters
M950 H0 C"out1" T4 ; create heater 0 for bed
M140 H0 ; assign bed to heater 0
M143 H0 S140 ; configure heater monitor for heater 0
M307 H0 R2.43 D5.5 E1.35 K0.56 B1 ; configure heater model
M950 H1 C"121.out0" T1 ; create heater 1 for extruder
M143 H1 S285 ; configure heater monitor for heater 1
M307 H1 R2.43 D5.5 E1.35 K0.56 B0 ; configure heater model

; Heated beds
M140 P0 H0 ; assign bed to heater 0

; Fans
M950 F0 C"121.out1" ; create fan 0
M106 P0 C"Tool Fan" S0 B0.1 H1 T50 ; configure tool fan
M950 F1 C"121.out2" ; create fan 1
M106 P1 C"Part Fan" S0 L0 X1 B0.1 ; configure part fan

; Tools
M563 P0 S"Tool 0" D0 H1 F0 ; create tool 0
G10 P0 X0 Y0 Z0 ; set tool offsets
G10 P0 R0 S0 ; set tool temperatures

; Miscellaneous
T0 ; select tool 0
M591 D0 P1 C"121.io2.in" S1 ; custom setting

dwuk3d

@meki05 the documentation for M671 says that it must come after the M669 - which is not the case in your config.g - might be worth swapping the order.

I ended up putting my M671 in bed.g

dwuk3d

@dwuk3d looking at the code - ZLeadscrewKinematics.cpp it looks like setting numLeadscrews = xSize - is the critical line - as this field needs to be >1 - and this only seems to be called when M671 is called with KinematicsType not set to CoreXZ -

When I had this issue it was because xSize didn't equal ySize - because I had specified the list of X and Y coordinates incorrectly.

bool ZLeadscrewKinematics::Configure(unsigned int mCode, GCodeBuffer& gb, const StringRef& reply, bool& error) THROWS(GCodeException)
{
	if (mCode == 671 && GetKinematicsType() != KinematicsType::coreXZ)
	{
		// Configuring leadscrew positions.
		// We no longer require the number of leadscrews to equal the number of motors. If there is a mismatch then auto calibration just prints the corrections.
		// We now allow just 1 pair of coordinates to be specified, which in effect clears the M671 settings.
		bool seenX = false, seenY = false;
		size_t xSize = MaxLeadscrews, ySize = MaxLeadscrews;
		if (gb.Seen('X'))
		{
			gb.GetFloatArray(leadscrewX, xSize, false);
			seenX = true;
		}
		if (gb.Seen('Y'))
		{
			gb.GetFloatArray(leadscrewY, ySize, false);
			seenY = true;
		}

		bool seenPFS = false;
		gb.TryGetFValue('S', maxCorrection, seenPFS);
		gb.TryGetFValue('P', screwPitch, seenPFS);
		gb.TryGetFValue('F', correctionFactor, seenPFS);

		if (seenX && seenY && xSize == ySize)
		{
			for (float& v : lastCorrections)
			{
				v = 0.0;
			}
			numLeadscrews = xSize;

meki05

@dwuk3d Thank you very much, the problem has been solved.
Screenshot 2025-03-17 184126.png