Haq XY

Haggan90

Hi, I'm trying to get the HaqXY kinematics to work.
How do I change so that the Y movement is like CoreXY for 2 X axis but the X movement is regular cartesian?

I'm guessing it's pretty simple, but I just can't figure it out..

dc42

There is no built-in support for that kinematics at present. It sounds rather like MarkForged kinematics - is it? I think someone else is in the process of adding support for MarkForged kinematics to the firmware.

Haggan90

Yes, it is basically Markforge but with 2 X axis If I choose corexy the Y axisi works perfect but both the X axis goes diagonal. If I choose regular cartesian both the X axisi works but Y become diagonal.

dc42

It sounds to me that MarkForged kinematics would work for that machine, provided it is implemented so that any additional axes created are straightforward linear axes.

Haggan90

@dc42 yeah that would be awsome! Do you know when it's supose to be implemented?

Haggan90

@dc42 Do you know who this someone is?

dc42

It looks like that someone was a user who enquired about MarkForged kinematics on the RepRap forums, but decided the Duet was too expensive for him.

I've had an idea for a generalised Cartesian/CoreXY configuration that would also encompass CoreXZ, CoreXYU, MarkForged, Haq, and all other variants of the principle that the movement of an axis is a linear function of the movements of a number of motors. Now I need to refresh my memory on how to invert a matrix.

Haggan90

Sounds very promising

Haggan90

@dc42 I got this from a guy who has implemented a markforge design with a smoothieware board, would it be hard to use this and make the kinematics for the Duet?

https://github.com/simpai/Smoothieware/commit/3788c3812fc7e6b94c031ed4b90fcdb7680fc87c

dc42

@haggan90 said in Haq XY:

@dc42 I got this from a guy who has implemented a markforge design with a smoothieware board, would it be hard to use this and make the kinematics for the Duet?

https://github.com/simpai/Smoothieware/commit/3788c3812fc7e6b94c031ed4b90fcdb7680fc87c

Not really, however implementing MarkForged kinematics in RRF isn't difficult anyway. It would be best done by generalising the existing CoreXY kinematics. But right now I am trying to finish the 2.02 release, so now isn't the time to make that sort of change.

Haggan90

@dc42 Hi!
Has there been any progress on the Markforged kinematics?

dc42

@haggan90 said in Haq XY:

@dc42 Hi!
Has there been any progress on the Markforged kinematics?

Not yet; but now that the 2.02 release is done I can look again at generalising CoreXY kinematics to support it.

Haggan90

@dc42 That would be super great!

Haggan90

@dc42 Any updates?

dc42

I have a new internal build supporting the generalised CoreXY kinematics, but I've not had time not run a print using it yet.

Haggan90

@dc42 That sound great! If you want me to test it I would happily do so I got the machine with the schematics described in the first post ready to go

dc42

I've put a very early beta at https://www.dropbox.com/s/fyvibzm0zl92hiy/Duet2CombinedFirmware.bin?dl=0. Sending M669 K11 should put it in MarkForged mode. If you want to set the movement matrix by hand you can use M669 K0 X1:-1 Y0:1 instead.

Please test it with great care and low motor current. In particular, the homing behaviour is untested.

Haggan90

@dc42 Im fiddling with it now
Maybe a dumb question, but is K0 the X axis? maybe K1 is Y axis?
In this case, if I just activate Markforged by putting M669 K11 in the config file then X becomes Y and Y becomes X.

When Y is moving both X and Y need to move, but when X is moving only X needs to move.
Now its the other way around

dc42

Try this: M669 K0 Y1:-1

I used the diagram at https://hackaday.io/project/19543-haq-xy/details. So the X motor should just affect X, and the Y motor should affect X and Y.

Haggan90

@dc42 Woho! It worked!
The homing is a bit weird thoug
How should I proceed if I want to add another X axis?