effector tilting into bed on print

dc42

If the height map is cup shaped, then most likely your delta radius is out. But that wouldn't result in an error of 4 degrees in one of the tower positions. Perhaps you should try using a smaller probing radius, at least for now.

TimVukman

Ok
I started over from the beginning.

I home my printer. I took out the little screws from the top of the carriages. My switches click at pretty much the exact same time.

My Z shows as 245 in DWC
I move Z down until it traps a piece of paper.
My Z shows as 34 in DWC
I issue a G92 Z0 to set that as my 0 height
I issue G30 S-1 to get my trigger height of 1.17
I issue an M500 to save the settings.
I power off the printer to give it time think about what it's going to do when I power it back up.

Power Up
Home All
Z registers 245

I have adjust my height to 216 since when I home it, it drops by 5. Once there, the actual distance to the bed surface is 211. If I send my printer z to 0, it is perfectly aligned on a sheet of paper.

I thought I should be able to print from here, but I can't. The nozzle digs into the bed.

So, I guess I need to run auto config, even though that screwed up all my settings last time.

No idea what I should do next.

Obviously there are people who have working delta printers. Also obvious is that some of these working printers are also using these boards as well..

Unless someone has a suggestion I am going to leave it for a bit, until I get the duet effector / carriage kits.

adavidm

@dc42 his probing radius is 10mm according to that bed.g. that doesn't look right but I don't think going smaller is going to help....

I think there is confusion over Cartesian coordinates Vs the naming of the three towers as X,Y and Z and that is causing a mismatch between expectation and reality, both in understanding the G31 offsets and the general movement of the effector.

adavidm

@timvukman

Tim, a couple of things to make sure we have the same terms of reference. Please don't take these questions as being patronising, it's just vitally important we are talking about the same things.

are you aware that the X, Y and Z labels of the towers have nothing whatsoever to do with the movement of the effector in Cartesian (X,Y,Z) space when talking about delta printers?

1a) if the answer to 1 is "yes" can you describe how you have connected the towers in terms of their relative position? In standard configuration, a single tower, Z is at the back in the centre. X is at the front-left and Y is at the front-right. Anything else will cause problems when we are giving you advice.

the X and Y offsets in G31 relate to Cartesian coordinates and have nothing to do with the towers.
you've configured a radius of 10mm in the bed.g configurator, was this intentional? That radius should be as large as you can reasonably manage without colliding with towers.

It sounds like you are very close to having a working solution so please don't give up. The magnetic arm solution with smart effector is awesome but it's essentially only going to solve the G31 offset issue you have, IMO.

adavidm

dc42

@timvukman said in effector tilting into bed on print:

I issue G30 S-1 to get my trigger height of 1.17
I issue an M500 to save the settings.

M500 does not save the trigger height in recent firmware versions. You need to edit the G31 command in config.g, setting the Z parameter to 1.17.

TimVukman

@adavidm
You cannot offend me and there is no reason to be concerned about what you say.
It is most obvious to me that there is a lack of understanding on my part. I am disappointed in that, based on how many times I have gone through the documentation and how many you tube videos I have watched. Having said that, my goal is to learn.

I realize that I can't say that something is moving in and X or Y direction relative to how I know those Axis in a cartesian model. I am trying to use the X Y and Z columns when describing directions of effector heading, unless I am using Z in the context of Height where 0 is the surface of the bed with the nozzle resting on a piece of paper. I have my printer facing me on a desk where I am looking between the X and Y columns with the Z column centered in the rear.
1a. I had to switch my X and Y column motors and end stops to match the description that I was given here, but X is to my left face on, and Y is to my right and Z is at the back.
I haven't really paid much attention to those offsets. I see that 11 in the X reference, but I have no idea why it is there. My bed is 220mm in diameter. From the DWC, the position reports X0 and Y0 when homed. I measured across X in the cartesian directions and my nozzle is at 120mm. I would think it should be 110mm to center. My Y value measures as 120mm front to back. I would think it should also be at 110mm
I suspect you are viewing an older version of bed.g. I noticed that and went back to the configurator and changed it to 100, to make sure I had a band around the perimeter of the bed that would keep my effector from contacting any of the drive belts or bed screws.

I sincerely appreciate the assistance and I will follow any instructions given to help isolate, troubleshoot and resolve this. Inclusion of information as to the "what and why" something is expected as a result for any part of this are appreciated

Bed.g is now:
; bed.g file for RepRapFirmware, generated by Escher3D calculator
; 10 points, 6 factors, probing radius: 100, probe offset (0, 0)
G30 P0 X0.00 Y100.00 Z-99999 H0
G30 P1 X86.60 Y50.00 Z-99999 H0
G30 P2 X86.60 Y-50.00 Z-99999 H0
G30 P3 X0.00 Y-100.00 Z-99999 H0
G30 P4 X-86.60 Y-50.00 Z-99999 H0
G30 P5 X-86.60 Y50.00 Z-99999 H0
G30 P6 X0.00 Y50.00 Z-99999 H0
G30 P7 X43.30 Y-25.00 Z-99999 H0
G30 P8 X-43.30 Y-25.00 Z-99999 H0
G30 P9 X0 Y0 Z-99999 S6

TimVukman

@dc42
Thanks for the heads up on M500. I have manually entered the trigger height in the G31.

Danal

@timvukman said in effector tilting into bed on print:

I realize that I can't say that something is moving in and X or Y direction relative to how I know those Axis in a cartesian model.

You probably already get this, but just to be sure:

Actually, you can and should state cartesian X and Y directions, when referring to X or Y moves caused by G-Code and/or the movement buttons in the web interface. The tip of the nozzle absolutely DOES move in cartesian space. The firmware moves the carriages on the towers in varying amounts and directions to make this true.

Example: Assume the nozzle is a Z50 an X0Y0. Command a move to Y10. Two of the towers will move down, and one up, in different amounts, so that the nozzle moves to X0Y10Z50. The moves will be "timed" so that the Z and X planes never deviate during the move.

This is how Delta's work.

I am trying to use the X Y and Z columns when describing directions of effector heading, unless I am using Z in the context of Height where 0 is the surface of the bed with the nozzle resting on a piece of paper. I have my printer facing me on a desk where I am looking between the X and Y columns with the Z column centered in the rear.

This is all correct when referring to the TOWERS. To repeat with different phrasing: TOWER X is NOT in any way related to the way the nozzle moves when it moves in cartesian X. In fact, some Delta firmware refers to the towers as Alpha Beta Gamma just to avoid any possible confusion.

1a. I had to switch my X and Y column motors and end stops to match the description that I was given here, but X is to my left face on, and Y is to my right and Z is at the back.

Good. That will make all of us be "on the same page" when describing things.

I haven't really paid much attention to those offsets. I see that 11 in the X reference, but I have no idea why it is there.

This means your probe is 11mm in the (cartesian space) X direction from the tip of the nozzle.

My bed is 220mm in diameter. From the DWC, the position reports X0 and Y0 when homed. I measured across X in the cartesian directions and my nozzle is at 120mm. I would think it should be 110mm to center. My Y value measures as 120mm front to back. I would think it should also be at 110mm

Agreed.

Bed.g is now:
; bed.g file for RepRapFirmware, generated by Escher3D calculator
; 10 points, 6 factors, probing radius: 100, probe offset (0, 0)
G30 P0 X0.00 Y100.00 Z-99999 H0
G30 P1 X86.60 Y50.00 Z-99999 H0
G30 P2 X86.60 Y-50.00 Z-99999 H0
G30 P3 X0.00 Y-100.00 Z-99999 H0
G30 P4 X-86.60 Y-50.00 Z-99999 H0
G30 P5 X-86.60 Y50.00 Z-99999 H0
G30 P6 X0.00 Y50.00 Z-99999 H0
G30 P7 X43.30 Y-25.00 Z-99999 H0
G30 P8 X-43.30 Y-25.00 Z-99999 H0
G30 P9 X0 Y0 Z-99999 S6

This looks pretty good to me. It should result in a circle of 6 probes about 100 mm from center (which may be off a little from what you said about centering), then a circle of 3 more about 50 mm, and one in the center. (That could be off, I'm eyeballing the numbers). It will then calculate just about everything except the diagonal rod length because of the S6 in the last command. That's the way I do it as well (10 points total, calc with S6) .

So that all looks good.

What does it do? What is the response you see in the Gcode console? I see things like: (where the M500s are me writing it to config-override.g)

1:13:09 PM M500
1:12:13 PM G32
Calibrated 6 factors using 10 points, deviation before 0.043 after 0.033
1:11:20 PM M500
1:11:07 PM G32
Calibrated 6 factors using 10 points, deviation before 0.504 after 0.045

TimVukman

Ok. I am pleased that we got on to common terms for things. I am not convinced that X11 is correct, but I will deal with that a little later.

At this point, I have not run Auto Calibrate since resetting everything. I will run it.

I will run it in the morning. It blew up my system. My bad, I didn't home it first. Now things don't seem very happy in printer land.

I powered it back up, ran the G32. It seems to be moving outside of the bed, so I shut it down.

I will report in the morning

TimVukman

@timvukman
Hi:
I have reduced the radius to 95 which the printer seems happy with. I do have an issue where one of the diagonal rods contacts the housing for the Z switch on the effector. It's light contact at 95. At 100 it popped off the magnetic rod.

I ran auto config this morning with new values in bed.g based on the change in radius to 95

G32
Calibrated 6 factors using 10 points, deviation before 5.928 after 0.307

The before number sure looks out of whack, no?

dc42

I suggest you adjust one or more probe points to avoid that contact between the rod and the Z switch.

The 0.307mm deviation is rather large, however as the before-figure is to high, it may come down if you run 1 or 2 more cycles of auto calibration.

adavidm

@timvukman

Don't worry too much about that "before" value right now. That is based on the figures in your config.g and your config-override.g. We know they are some way out because you can't print at the moment.

Drop your radius to 90mm, you don't want any kind of contact. The reduced probing radius will not be an issue right now. EDIT - dc42 has suggested a better way by simply changing the coordinate of the problem point. If you are comfortable doing this then go ahead, my method should work if you are not feeling confident, however.

My suggestion is that you do the following:

Home all axes - either with a G28 or by clicking Home in the web interface (DWC)
Run calibration - either with a G32 or through the web interface.
WITHOUT HOMING - run G32 again.
Save to config-override.g by running M500

Once that's done, paste the complete content of config.g and config-override.g here, along with the results of the two G32 commands, above. You've changed quite a few things so worth getting an up-to-date look at your config.

It sounds like you are really close, so keep going!

adavidm

--edited for readability

TimVukman

Ok
Changed radius to 90
Power Cycled.
Homed
G32
Calibrated 6 factors using 10 points, deviation before 5.340 after 0.315
2nd G32
Calibrated 6 factors using 10 points, deviation before 3.517 after 0.315

Config.g
; Configuration file for Duet WiFi (firmware version 1.20 or newer)
; executed by the firmware on start-up
;
; generated by RepRapFirmware Configuration Tool on Wed Jun 13 2018 16:33:57 GMT-0400 (Eastern Daylight Time)

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

;*** The homed height is deliberately set too high in the following - you will adjust it during calibration.
M665 R95 L360.20 B100 H211 ; Set delta radius, diagonal rod length, printable radius and homed height
M666 X0 Y0 Z0 ; Put your endstop adjustments here, or let auto calibration find them

; Network
M550 PMiniKossel ; Set machine name
M552 S1 ; Enable network
M587 S"BELL137" P"DAAE9D3D996E" I192.168.1.14 J192.168.1.254 K255.255.255.0 ; Configure access point and IP addresses. You can delete this line once connected
M586 P0 S1 ; Enable HTTP
M586 P1 S0 ; Disable FTP
M586 P2 S0 ; Disable Telnet

; Drives
M569 P0 S1 ; Drive 0 goes forwards
M569 P1 S1 ; Drive 1 goes forwards
M569 P2 S1 ; Drive 2 goes forwards
M569 P3 S0 ; Drive 3 goes backwards
M350 X16 Y16 Z16 E16 I0 ; Configure microstepping without interpolation
M92 X80 Y80 Z80 E663 ; Set steps per mm
M566 X1200 Y1200 Z1200 E1200 ; Set maximum instantaneous speed changes (mm/min)
M203 X18000 Y18000 Z18000 E1200 ; Set maximum speeds (mm/min)
M201 X1000 Y1000 Z1000 E1000 ; Set accelerations (mm/s^2)
M906 X1000 Y1000 Z1000 E800 I30 ; Set motor currents (mA) and motor idle factor in per cent
M84 S30 ; Set idle timeout

; Axis Limits
M208 Z-0.1 S1 ; Set minimum Z

; Endstops
M574 X2 Y2 Z2 S1 ; Set active high endstops

; Z-Probe
M558 P4 H10 F120 T2400 I1 ; Set Z probe type to unmodulated and the dive height + speeds
G31 P500 X11 Y0 Z-1.172 ; Set Z probe trigger value, offset and trigger height
M557 R80 S20 ; Define mesh grid

; Heaters
M307 H0 B0 S1.00 ; Disable bang-bang mode for the bed heater and set PWM limit
M305 P0 T100000 B3950 C0 R4700 ; Set thermistor + ADC parameters for heater 0
M143 H0 S120 ; Set temperature limit for heater 0 to 120C
M305 P1 T100000 B4388 C0 R4700 ; Set thermistor + ADC parameters for heater 1
M143 H1 S280 ; Set temperature limit for heater 1 to 280C

; Fans
M106 P0 S0 I0 F500 H-1 ; Set fan 0 value, PWM signal inversion and frequency. Thermostatic control is turned off
M106 P1 S0 I0 F500 H-1 ; Set fan 1 value, PWM signal inversion and frequency. Thermostatic control is turned off
M106 P2 S1 I0 F500 H1 T45 ; Set fan 2 value, PWM signal inversion and frequency. Thermostatic control is turned on

; Tools
M563 P0 D0 H1 ; 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

; Automatic power saving
M911 S10 R11 P"M913 X0 Y0 G91 M83 G1 Z3 E-5 F1000" ; Set voltage thresholds and actions to run on power loss

; Custom settings are not configured

; Miscellaneous
T0 ; Select first tool
M501

Config-Override.g
; This is a system-generated file - do not edit
; Delta parameters
M665 L360.200 R117.532 H211.495 B85.0 X1.681 Y0.185 Z0.000
M666 X4.164 Y4.016 Z-8.180 A0.00 B0.00
; Heater model parameters
M307 H0 A90.0 C700.0 D10.0 S1.00 V0.0 B0
M307 H1 A340.0 C140.0 D5.5 S1.00 V0.0 B0
M307 H2 A340.0 C140.0 D5.5 S1.00 V0.0 B0
M307 H3 A340.0 C140.0 D5.5 S1.00 V0.0 B0
M307 H4 A340.0 C140.0 D5.5 S1.00 V0.0 B0
M307 H5 A340.0 C140.0 D5.5 S1.00 V0.0 B0
M307 H6 A340.0 C140.0 D5.5 S1.00 V0.0 B0
M307 H7 A340.0 C140.0 D5.5 S1.00 V0.0 B0

Should the M666 values be that high?

dc42

No, unless you really have mounted the Z tower endstop switch 12mm higher or lower than the other two then the corrections should not be that high. Also, after the first G32 the predicted deviation is 0.315 but the actual deviation as shown at the start of the second G32 is 3.517. The fact that these are so different indicates that your printer has a geometric error that auto calibration cannot correct for. I suggest you work through https://duet3d.dozuki.com/Wiki/Calibrating_a_delta_printer. If possible, mount a circular spirit level on the effector to monitor effector tilt.

Can you post some photos of your printer?

TimVukman

Hi
I will get some photos. My Switches are all at the same height. I think the Z belt is jumping on the geared tooth when it makes the first move toward the Z access. I'm not sure if it is hitting the housing that holds the switch for the probe on the left side of the effector, or if it is hitting the casing that holds the part cooling fan on the rear of the effector.
This started with the addition of the longer magnetic rods. There was only one size where I purchased them.
I will place the order for the duet effector today. Hopefully it will get here in about a week.

TimVukman

Hi:

I pulled the effector off of the magnetic rods, and rotated it by one carriage to the right. I did not hear the belt jumping.

Home
G32
Calibrated 6 factors using 10 points, deviation before 2.242 after 0.241
6:19:39
Did not home
PMG32
Calibrated 6 factors using 10 points, deviation before 2.460 after 0.325

TimVukman

So, Given that this seems to have worked, are the results such that I could attempt printing, or are there more steps that I should take to make sure it is ok?

dc42

No, the calibration is way off, because the deviation before is always more than 2mm even though auto calibration thinks it has reduced it.

TimVukman

Ok,

run this morning.

G32
Calibrated 6 factors using 10 points, deviation before 0.888 after 0.625
G32
Calibrated 6 factors using 10 points, deviation before 1.866 after 0.294
G32
Calibrated 6 factors using 10 points, deviation before 1.121 after 0.343

I have saved this into my settings. Something that does not seem right in that I have now issued a homeall and all the carriages go up at the same rate. Z carriage is leading ahead of X and Y. X and Y column limit switches trip around the same time shortly after Z

Once triggered, all three carriages drop by the 5mm as expected. Z bounces off the switch 4 or 5 times on the subsquent rise back to the switches since my effector is no longer centered.

dc42

I suggest you increase the amount by which the carriages drop after homing to a value higher than 5mm, so that you do not get the Z bounce as the effector is centred.

It still sounds to me that there is some geometrical error that is causing calibration to make excessive corrections. Can you mount a spirit level on the effector, to monitor effector tilt?