https://www.youtube.com/watch?v=BnsA2Ix4CfQ

Here is our teaser video for the Scara Road Runner. It will mainly be used for 3D printing cement with a 1in nozzle from a continuous flow system.

It is using a Duet 2 WiFi, all motors are being run off the expansion pin slot.

We will be printing with material soon, just a few more things to work out. The print area shape will be an elliptical oval that has straight edges on top and bottom of the oval from a top down view. It can do continuous 360 degree rotation.

It got bigger.

https://youtube.com/shorts/kuDXX552dMU

Here it is in action!
https://youtu.be/57DWYw5pkn4

@joergs5 Thankyou I Have flashed your firmware now. I know about changing the M92 to steps per degree, I just haven't set that up yet. In the process of doing that right now.

Thanks. Works great. Was not working for me as I was on version 3.1
Works great on 3.5.1

On the Duet 2 expansion slot lets say for Pin 5) E2_STEP and Pin 6) E2_DIR,

Is there a way to switch them with each other?- To tell the control board to switch them.

I understand this is a very strange ask, and the correct answer is to just fix my wiring, but this would save me some time if I can just change a config setting of some kind.

Asking so we can fix prototypes faster, as we make a lot of new devices.

@droftarts
Probed a bunch of random places on the board where the 3.3v and 5v lines are at. They were all the same and were all about 5.5v and 3.5v

The thing is the board overheats the same, even when its only being powered over USB...... must be a damaged MCU.

@droftarts
Here is USB Power.

M122
=== Diagnostics ===
RepRapFirmware for Duet 3 MB6XD version 3.4.2rc1 (2022-07-06 16:23:35) running on Duet 3 MB6XD v0.1 (standalone mode)
Board ID: 08DLM-956DA-M2NS4-6J9DJ-3SD6P-TT3GT
Used output buffers: 3 of 40 (15 max)
=== RTOS ===
Static ram: 149592
Dynamic ram: 95852 of which 0 recycled
Never used RAM 105228, free system stack 206 words
Tasks: NETWORK(ready,28.2%,272) ETHERNET(notifyWait,0.4%,173) HEAT(notifyWait,0.0%,373) Move(notifyWait,0.0%,352) CanReceiv(notifyWait,0.0%,944) CanSender(notifyWait,0.0%,374) CanClock(delaying,0.0%,343) MAIN(running,71.1%,951) IDLE(ready,0.4%,29), total 100.0%
Owned mutexes:
=== Platform ===
Last reset 00:00:33 ago, cause: power up
Last software reset at 2024-05-10 13:27, reason: User, GCodes spinning, available RAM 105156, slot 0
Software reset code 0x0003 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x00400000 BFAR 0x00000000 SP 0x00000000 Task MAIN Freestk 0 n/a
Error status: 0x00
Step timer max interval 1435
MCU temperature: min 38.8, current 61.6, max 61.7
Supply voltage: min 0.1, current 0.2, max 0.2, under voltage events: 0, over voltage events: 0, power good: yes
12V rail voltage: min 0.2, current 0.2, max 0.3, under voltage events: 0
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
Driver 1: ok
Driver 2: ok
Driver 3: ok
Driver 4: ok
Driver 5: ok
Date/time: 2024-05-16 10:09:51
Slowest loop: 3.34ms; fastest: 0.05ms
=== Storage ===
Free file entries: 10
SD card 0 detected, interface speed: 25.0MBytes/sec
SD card longest read time 5.2ms, write time 0.0ms, max retries 0
=== Move ===
DMs created 125, 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 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1, chamber heaters -1 -1 -1 -1, ordering errs 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
SBC is idle in state(s) 0
Daemon is idle in state(s) 0
Aux2 is idle in state(s) 0
Autopause is idle in state(s) 0
Code queue is empty
=== CAN ===
Messages queued 169, received 0, lost 0, boc 0
Longest wait 0ms for reply type 0, peak Tx sync delay 0, free buffers 50 (min 50), ts 169/0/0
Tx timeouts 0,0,168,0,0,0 last cancelled message type 30 dest 127
=== Network ===
Slowest loop: 3.27ms; fastest: 0.02ms
Responder states: HTTP(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) FTP(0) Telnet(0), 0 sessions Telnet(0), 0 sessions
HTTP sessions: 1 of 8
- Ethernet -
State: active
Error counts: 0 0 1 0 0
Socket states: 5 2 2 2 2 0 0 0

And below is 12v power.

m122
=== Diagnostics ===
RepRapFirmware for Duet 3 MB6XD version 3.4.2rc1 (2022-07-06 16:23:35) running on Duet 3 MB6XD v0.1 (standalone mode)
Board ID: 08DLM-956DA-M2NS4-6J9DJ-3SD6P-TT3GT
Used output buffers: 3 of 40 (15 max)
=== RTOS ===
Static ram: 149592
Dynamic ram: 95852 of which 0 recycled
Never used RAM 105228, free system stack 219 words
Tasks: NETWORK(ready,28.1%,280) ETHERNET(notifyWait,0.1%,184) HEAT(notifyWait,0.0%,373) Move(notifyWait,0.0%,352) CanReceiv(notifyWait,0.0%,944) CanSender(notifyWait,0.0%,374) CanClock(delaying,0.0%,343) MAIN(running,71.0%,978) IDLE(ready,0.8%,29), total 100.0%
Owned mutexes:
=== Platform ===
Last reset 00:00:12 ago, cause: power up
Last software reset at 2024-05-10 13:27, reason: User, GCodes spinning, available RAM 105156, slot 0
Software reset code 0x0003 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x00400000 BFAR 0x00000000 SP 0x00000000 Task MAIN Freestk 0 n/a
Error status: 0x00
Step timer max interval 633
MCU temperature: min 40.6, current 58.5, max 58.6
Supply voltage: min 12.0, current 12.0, max 12.1, under voltage events: 0, over voltage events: 0, power good: yes
12V rail voltage: min 11.3, current 11.3, max 11.4, under voltage events: 0
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
Driver 1: ok
Driver 2: ok
Driver 3: ok
Driver 4: ok
Driver 5: ok
Date/time: 2024-05-16 10:15:48
Slowest loop: 2.36ms; fastest: 0.05ms
=== Storage ===
Free file entries: 10
SD card 0 detected, interface speed: 25.0MBytes/sec
SD card longest read time 5.3ms, write time 0.0ms, max retries 0
=== Move ===
DMs created 125, 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 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1, chamber heaters -1 -1 -1 -1, ordering errs 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
SBC is idle in state(s) 0
Daemon is idle in state(s) 0
Aux2 is idle in state(s) 0
Autopause is idle in state(s) 0
Code queue is empty
=== CAN ===
Messages queued 63, received 0, lost 0, boc 0
Longest wait 0ms for reply type 0, peak Tx sync delay 0, free buffers 50 (min 50), ts 63/0/0
Tx timeouts 0,0,62,0,0,0 last cancelled message type 30 dest 127
=== Network ===
Slowest loop: 1.40ms; fastest: 0.02ms
Responder states: HTTP(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) FTP(0) Telnet(0), 0 sessions Telnet(0), 0 sessions
HTTP sessions: 1 of 8
- Ethernet -
State: active
Error counts: 0 0 1 0 0
Socket states: 5 2 2 2 2 0 0 0

@Phaedrux
Yes, I believe the temperature reading is correct. Chip and heatsink are too hot to touch, will burn finger.
With everything disconnected, just only VIN12v, it does as I described. Same for USB only.
~1-2 years ago from the official Duet Sales. I believe it was one of the early production boards.

When the board is powered it goes to ~100C on the MCU. Interface works correctly.

Happens both over 12v power and USB power. The ramp to 100C is not instant and takes 1-2min. Tried unplugging everything except for Ethernet cable and input power, still overheats. Added heatsink, did not do much.

; Configuration file for RepRapFirmware on Duet 3 Main Board 6XD
; executed by the firmware on start-up
;
; generated by RepRapFirmware Configuration Tool v3.5.0-rc.4+1 on Fri May 10 2024 10:41:20 GMT-0400 (Eastern Daylight Time)

; General
G90 ; absolute coordinates
M83 ; relative extruder moves
M550 P"SCARA HD" ; set hostname
M911 S8 R10 P"M913 X0 Y0 G91 M83 G1 Z3 E-5 F1000" ; set voltage thresholds and actions to run on power loss

; Network
; M551 P"12345678" ; set machine password
M552 P192.168.1.14 S1 ; configure Ethernet adapter
M586 P0 S1 ; configure HTTP

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

; External Drivers
M569 P0.0 S0 R1 T5:5:10:0 ; driver 0.0 goes backwards and requires an active-low enable signal (X axis)
M569 P0.1 S1 R1 T5:5:10:0 ; driver 0.1 goes forwards and requires an active-low enable signal (Y axis)
M569 P0.2 S0 R1 T5:5:10:0 ; driver 0.2 goes backwards and requires an active-low enable signal (Z axis)
M569 P0.3 S1 R1 T5:5:10:0 ; driver 0.3 goes forwards and requires an active-low enable signal (extruder 0)
M569 P0.4 S1 R1 T5:5:10:0 ; driver 0.4 goes forwards and requires an active-low enable signal (extruder 1)
M569 P0.5 S1 R1 T5:5:10:0 ; driver 0.5 goes forwards and requires an active-low enable signal (U axis)

; Axes
M584 X0.0 Y0.1 Z0.2 U0.5 ; set axis mapping
M350 X1 Y1 Z1 U1 I0 ; configure microstepping without interpolation
M92 X6006 Y600 Z600 U80 ; configure steps per mm
M208 X-10000:10000 Y-10000:10000 Z-10000:10000 U0:200 ; set minimum and maximum axis limits
M566 X3000 Y3000 Z3000 U900 ; set maximum instantaneous speed changes (mm/min)
M203 X18000 Y18000 Z18000 U6000 ; set maximum speeds (mm/min)
M201 X50 Y50 Z50 U500 ; set accelerations (mm/s^2)

; Extruders
M584 E0.3:0.4 ; set extruder mapping
M350 E1:1 I0 ; configure microstepping without interpolation
M92 E1000:1000 ; configure steps per mm
M566 E12000:12000 ; set maximum instantaneous speed changes (mm/min)
M203 E12000:12000 ; set maximum speeds (mm/min)
M201 E200:200 ; set accelerations (mm/s^2)

; Kinematics
M669 K0 ; configure Cartesian kinematics

; Endstops
M574 X2 P"io0.in" S1 ; configure X axis endstop
M574 Y2 P"io1.in" S1 ; configure Y axis endstop
M574 Z2 P"io2.in" S1 ; configure Z axis endstop
M574 U2 P"io5.in" S1 ; configure U axis endstop

; Tools
M563 P0 D0 ; create tool #0
M563 P1 D1 ; create tool #1

; Miscellaneous
T0 ; select first tool

Thanks. Works great. Was not working for me as I was on version 3.1
Works great on 3.5.1

Video of it working: https://www.youtube.com/watch?v=hMWtKxBUGBE

Thanks. Works great. Was not working for me as I was on version 3.1
Works great on 3.5.1

M84 idles the motors. Is there a command to tell them to engage other than a move command?

I realize you could do something like this "g1 e0.0001 f10000" was just wondering if there is a magical command to tell the motor "on"

https://docs.duet3d.com/User_manual/Reference/Gcodes#m84-stop-idle-hold

Is there a way to force an ending script/macro/gocde file to run at the end of every print?

I am fully aware of ending scripts in slicers and the Duet board macros. What I am looking for is when a print file is completed, the duet board runs a macro command or another gcode file by name. Even running the something like the pause.g or stop.g file would work this as well.

The gcode print file that just finished does not have any run commands/scripts in the gcode file. And the Duet board automatically runs file X once a print has been completed, no mater what the print is or what is in the gocde file.

@dc42 Up and running. Thank you for the information, it helped a lot. Video of it working: https://www.youtube.com/watch?v=WS5VHpAl5Vc

I do have one more question though.

I have observed very odd measurements from the amplifying circuit output VPP when the Duet board is sending low frequencies and/or with T being low. The duet board VPP output seems constant no matter the speed/freq.

Is this from a poor quality amplifier circuit? Or does the Duet 2 board drop in available current on the PWM line when at lower frequencies? I do not believe it to be the latter, as the Duet board VPP is constant.

I assume this is due to a poor quality amplifier that requires X amount of current coming in from the PWM line from the Duet board. When the Pulse cycle length (T) is short and/or when the Frequency is small, the end result coming out of the Amplifier is small, even going to 0 VPP. When the VPP output from the amplifier is not 0, the IN/OUT PWM frequencies matches, so at least the amplifier does not distort that.