i think on the Duet3D side we need to use endstops while on the OpenPNP side you use soft limits . The issue happens when you have a Axes with soft limit, it will sometimes go past the soft limit by a very small offset but when there is an endstop triggered that motion/ movement comes to a stop and does not go past.
On all the Axes, i have endstops in Duet3D 6XD controller and i have Soft Limits on OpenPnP
@dc42
Thanks for the in depth explanation. Solution 1 would probably be ideal in my case. Because i need to poll only the 6 vacuum sensors at 5 ~ 20 ms when opening and closing vacuum of each nozzle during pick and place sequence. After the OpenPnP job is run or completed i don't need to poll at those low times
is there a way that you can adjust M308 command as you said to provide up-to-date reading for individual sensors when requested in addition to the current last reading option. In my case, up-to-date reading would solve the issue
or May be add a parameter to M308 that allows for individual sensor polling but leave the rest of the sensors at default polling of 250 ms to avoid a huge load increase on CAN bus
e.g
M308 S0 P"2.io0.in" Y"linear-analog" A"VG1 Pressure" F0 B37 C-130 Tnnn
where Tnnn is the adjusted polling frequency for that Sensor otherwise default is 250 ms as usual for Duet Boards.
Any solution that is easy to implement quickly without causing a lot of issues in the Duet3D firmware code would be ideal
I have Duet3 3HC expansion boards with my 6 Vacuum Sensors ( SMC NPN Vacuum Pressure Digital Sensors -ZSE30A-01-C-L (Not Z-Probe)) . Below is part of my config.g on my Duet3 6XD controller
; Sensors outputs ===> Duet3 inputs
; SMC NPN Vacuum Pressure Digital Sensors -ZSE30A-01-C-L (Not Z-Probe) - Model: ZSE30A-01-C-L has 2 Outputs OUT1 = 1 NPN output , OUT2 = 1 Analog Output (1 ~ 5V)
; Analog Signal Outputs (White wire (output 2) for reading Analog vacuum sensing and pressure values).
M308 S0 P"2.io0.in" Y"linear-analog" A"VG1 Pressure" F0 B37 C-130 ; Duet 3 3HC CAN_ID 2 Port 0- Analog capable - Vacuum Sensor Nozzle 1
M308 S1 P"2.io1.in" Y"linear-analog" A"VG2 Pressure" F0 B35 C-130 ; Duet 3 3HC CAN_ID 2 Port 1- Analog capable - Vacuum Sensor Nozzle 2
M308 S2 P"2.io2.in" Y"linear-analog" A"VG3 Pressure" F0 B37 C-130 ; Duet 3 3HC CAN_ID 2 Port 2- Analog capable - Vacuum Sensor Nozzle 3
M308 S3 P"3.io0.in" Y"linear-analog" A"VG4 Pressure" F0 B35 C-130 ; Duet 3 3HC CAN_ID 3 Port 0- Analog capable - Vacuum Sensor Nozzle 4
M308 S4 P"3.io1.in" Y"linear-analog" A"VG5 Pressure" F0 B35 C-130 ; Duet 3 3HC CAN_ID 3 Port 1- Analog capable - Vacuum Sensor Nozzle 5
M308 S5 P"3.io2.in" Y"linear-analog" A"VG6 Pressure" F0 B35 C-130 ; Duet 3 3HC CAN_ID 3 Port 2- Analog capable - Vacuum Sensor Nozzle 6
In OpenPnP , The oversimplified sequence is :
(1) Open Vacuum
(2) Pick part
(3) Bottom Camera sequence
(4) Place part
(5) Close Vacuum
I am having problem with either slow readings from Duet Controller or slow reaction from OpenPnP
The issue is that after placing the part it does not get the readings in time to close the vacuum (Errors saying vacuum not off) unless
i add 300ms to the Nozzle place Dwell time. That allows OpenPnP to get the change in reading in order to close the vacuum.
if i don't add the Nozzle place dwell time (>290 ms) or just leave it at default 0 then it does not close the Vacuum
NOTE: i did post the same question on the OpenPnP google group and @dc42 commented that " Analog sensors on Duet boards are read every 250ms, so I think this explains your observation."
How i am reading the analog sensors values from Duet3D (testing using a macro ) or OpenPnP commands:
M118 P0 S{sensors.analog[0].lastReading} ; Check Vacuum Pressure BEFORE closing vacuum
M42 P0 S0 ; Close Vacuum
M118 P0 S{sensors.analog[0].lastReading} ; Check Vacuum Pressure AFTER closing vacuum
Considering what @dc42 noted, it seems analog sensor last reading values are read / updated/ polled every 250 ms .
SMC NPN Vacuum Pressure Digital Sensors -ZSE30A-01-C-L have a switch output response time of 2.5 ms or less (With anti-chattering function: 20, 100, 500, 1000, 2000 ms )
Is there a way to adjust that time frequency from 250 ms to may be every 5 ~ 20 ms if possible ? Or is there a way to configure the sensors to accomplish this ?
Looking on DWC the frequency seem to be fast enough but when reading the analog values it seems to reflect what @dc42 noted
@chrishamm
Sorry @chrishamm , unfortunately i deleted it before seeing this message. My mistake, i should have kept it. Sorry for that
@chrishamm Yes !!! that fixed it. Is this some bug in DWC ?
@chrishamm
i have upgraded to 3.6.0-rc1 and removed the M956 command from config.g file and rebooted the Duet3D 6XD but the problem persists . No display of collected accelerometer data
FYI,
this method doesn't work on both Duet and OpenPnP. Only one end point is active & can be triggered on the shared axis Z, U or V. I am not sure how to configure this is Duet3 for it to work.
Can someone help on this ?
i have 1 motor for each CAM shared Z-type axis . i.e 3 Axes ( Z , U , V ) each with its own Motor controlling the shared axis with Nozzle pair
Z-axis is shared between CAM Z1 (Has an Endstop1 & Nozzle 1 ) & Z2 axis ( Has an Endstop2 &Nozzle 2)
V-axis is shared between CAM Z3 (Has an Endstop3 & Nozzle 3 ) & Z4 axis (Has an Endstop4 & Nozzle 4)
V-axis is shared between CAM Z5 (Has an Endstop5 & Nozzle 5 ) & Z6 axis (Has an Endstop6 & Nozzle 6)
Z , U , V ( Z-Axis = (Z1, Z2), U-Axis = (Z3, Z4), V-Axis= (Z5, Z6) ) only Z2 , Z4, Z6 triggers Z , U , V respectively but not Z1, Z3, Z5
They move over a vertical Z-based axis range of travel actually from 0 to -/+70 degrees before they trigger the endstop . all have a rotational range of -90:90 but technically
so
(1) On Z-Axis Motor , Z1 has a move range from 0 to -90 and Z2 has a move range from 0 to +90. When one is down , then other is always at zero
(2) On U-Axis Motor , Z3 has a move range from 0 to -90 and Z4 has a move range from 0 to +90. When one is down , then other is always at zero
(3) On V-Axis Motor , Z5 has a move range from 0 to -90 and Z6 has a move range from 0 to +90. When one is down , then other is always at zero
is M956 supposed to be in config.g or not ?
i have an Accelerometer LIS2DW12 connected and its oriented and working fine. i am able to collect Data and i can view the data in the default accelerometer folder on Duet 6XD controller but when i got to motion analysis tab it does not display anything. Even if i select none, apply and rerun the data collection again . it finishes without errors but does not display.
i am running Duet3D RRF 3.6.0-beta-4 on the Duet3D 6XD Controller
On my Config i have the following
M955 P0 C"spi.cs2+spi.cs1" ; LIS2DW12 Accelerometer -- All wires connected to temp DB connector on Duet3D 6XD, no temperature daughterboard.
M593 P"ei3" F46 ;
; To Collect accelerometer samples and save them to .csv file : default folder 0:/sys/accelerometer. Comment out when not collecting Accelerometer data
M956 P0 S2000 A0 ; Note: A0 = Activate immediately, A1 = Activate before start of next move, A2= Activate before start of deceleration segment of next move
@droftarts said in Homeall.g fails when homing all axes:
I'm not sure how this would interact with OpenPNP, though.
this is where i am also having doubts how that would work with OpenPNP
@fcwilt said in Homeall.g fails when homing all axes:
How do you convert stepper position to nozzle position?
its just Z-axis as any other , no difference .The CAM on the motor just moves or rotates clockwise or counterclockwise to move the nozzles on the Z-based axes up or down
@fcwilt said in Homeall.g fails when homing all axes:
Are these nozzles simply up or down OR do they move over a range of vertical travel?
They move over a vertical range of travel actually from 0 to -/+ 70 before they trigger the endstop . all have a range of -90:90 but technically
so
(1) On Z-Axis Motor , Z1 has a move range from 0 to -90 and Z2 has a move range from 0 to +90. When one is down , then other is always at zero
(2) On U-Axis Motor , Z3 has a move range from 0 to -90 and Z4 has a move range from 0 to +90. When one is down , then other is always at zero
(3) On V-Axis Motor , Z5 has a move range from 0 to -90 and Z6 has a move range from 0 to +90. When one is down , then other is always at zero
@fcwilt said in Homeall.g fails when homing all axes:
Does each nozzle have it's own endstop sensor?
Yes, Each Nozzle has its own endstop . With CAM kind of shared axis when it moves down 1 nozzle the other stays at zero or is lifted back to zero point by the spring to where there is a stopper to prevent it from flying over.
@fcwilt
That worked for X &Y and Z , i am going through all the axes one-by-one following your insights .
How do you configure the endstops of a shared z-axis cam based
i have to configure endstops for 6-Nozzles ( 2 Nozzles share a single Z-axis based Stepper motor ) so that they trigger correctly
i.e 3 Stepper Motors for Z, U, V axis but each axis shared with 2 nozzles each with a Z-axis type.
@fcwilt said in Homeall.g fails when homing all axes:
Now if you have specified your X axis with M208 -170:170, meaning X=0 is at the center of the axis you could add the following:
i have M208 X0:340 Y0:447
@fcwilt said in Homeall.g fails when homing all axes:
At what position does the X endstop trigger? Are you treating that as X=0?
Yes at X=0. Do i need to test this on the command console or just put them in a homing file and test on DWC ?
something like this on homex.g ?
G91
G1 H1 X-345 F5000 ; use a value large enough to move the entire length of the X axis
G1 X10
G1 H1 X-15 F500
G1 X0
G92 X0
G90
@fcwilt
X-axis = 340 mm and Y-axis = 447mm.
I think i only have extra additional of -2.0516mm on X-axis on the low end and -4.0244mm on Y-axis
@developeralgo222
i went back to try and individually home all Axes that have their end stops corrected i.e
X-Axis ---- End stop works fine now and triggers correctly
Y-Axis ---- End stop works fine now and triggers correctly
W, A, B, C, D, k ---- End stop works fine now and triggers correctly
Homing fails on all of them. e.g. homing X-axis, this is what i have in the file ( very simple, nothing complicated ). It completes the movements in homing X-axis fine with no issues but DWC reports that Homing X failed e.g
; Home X-Axis
G91 ; relative positioning
G1 H2 X0 ; set axes position explicitly to Zero i.e move X and Y-axis Minimum Homing endstop and stop there
G1 H2 X40 F10000 ; move quickly to X and Y axis endstops and stop there (first pass)
G1 H2 X-40 F10000 ; go back a few mm
G1 H2 X0 ; move X and Y-axis Minimum Homing endstop and stop there (first pass)
G90 ; absolute positioning
It affects me in that i can't use Input Shaping with Accelerometer from the DWC to help tune and optimize my PNP machine Speed and acceleration . Input Shaping from DWC is using HomeAll button . Not sure if its failing bacause of Z, U, V that have endstop issues
