Topics created by developeralgo222

@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

@chrishamm
Sorry @chrishamm , unfortunately i deleted it before seeing this message. My mistake, i should have kept it. Sorry for that

@droftarts

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

@developeralgo222 If they are not aligned at any height then that's a different problem form the not being aligned at 0 only.

In your original post you mentioned

@developeralgo222 said in Perfect Horizontal Line alignment for Z-Axis Stepper motors:

I command the motor with Gcode to
move a distance 10 mm/Degree , then 5 mm/Degree and then 4 mm/Degree

after moving to the Z20 position are they correctly aligned (or really, is the alignment the same as when they started the move. If not why not? I see you have 1 Z driver, but then also U, and V which are in the comments referred to a Z, each of those in the comments is described as having two motors per driver. what is getting out of sync. the motors on different drivers or the motors on the same drivers, or both?

@developeralgo222 from the responses on the OpenPnP group at https://groups.google.com/g/openpnp/c/W-ZLi_xXj-A it appears to me that you need to specify the microsteps/degree for a cam-driven Z axis, not steps/mm.

@infiniteloop Thanks guys for the help i will test it this weekend

@droftarts ,

Thanks for your help. Here is what i have adjusted them to

M569 P0.0 S0 T2.5:2.5:2.5:2.5 ; 2.5us timings between pulses for X-axis M569 P0.1 S0 T2.5:2.5:2.5:2.5 ; 2.5us timings between pulses for Y-axis . . . M350 Z16 U16 V16 W16 A16 B16 C16 D16 'G16 I1 ; configure microstepping with interpolation. M92 X100.00 Y100.00 Z80.00 U80.00 V80.00 W8.888 A8.888 B8.888 C8.888 D8.888 'G8.888 ; set steps per mm . Ballscrew Pitch = 10mm/rev. M566 X900.0 Y900.0 Z900.0 U900.0 V900.0 W900.0 A900.0 B900.0 C900.0 D900.0 'G900.0 P1 ; set maximum instantaneous speed changes (mm/min) and use Jerk policy 1 M203 X51000 Y51000 Z6000 U6000 V6000 W3600000.00 A3600000.00 B3600000.00 C3600000.00 D3600000.00 'G3600000.00 ; set maximum speeds/feedrate (mm/min) M201 X5000.00 Y5000.00 Z2000.00 U2000.00 V2000.00 W180000.00 A180000.00 B180000.00 C180000.00 D180000.00 'G180000.00 ; set accelerations (mm/s^2) M906 Z1360.0 U1360.0 V1360.0 W560.0 A560.0 B560.0 C560.0 D560.0 'G560.0 I100 ; set motor currents (mA) and motor idle factor in per cent

As concerns Jerk , Duet measurement are in mm/min but openPnP are in mm/s^3

in order to convert that into mm/s^3 for OpenPnP do i just need to take Duet's config value and multiply by (60 * 1/S^3 )

i.e 900 mm/min = 900 x 60 mm/s =54000 mm/s x (1/s^2) = 54000 mm/s^3

is this correct assumption ? or Both Duet & OpenPnP must have be synchronized by having same Value ?

From this config is there anything you think might be a little out of place i.e Too high or too low

@droftarts
By commenting out M84 command and using the above modication , seems to work but has issues. i think i spoke too soon. it will shut off the motors after a while and i am not sure why

M906 Z1360 U1360 V1360 W560 A560 B560 C560 D560 'G560 I100

then just use openPnP commands

ENABLE_COMMAND to send M17 to Duet3 6XD Controller DISABLE_COMMAND to send M18 to Duet3 6XD Controller

This way if the PNP machine is started and operational it will have the axes and motors enabled and as soon as all jobs are done and PnP machine is disabled in openPnP it will send a command to Duet3 6XD to disable all axes and motors

@dc42
managed to side step the issue and use just a single parallel homing file in Duet3

@tecno best to start a new thread showing what you have tried.

@dc42 The tests are great . No errors so far . Looks good

@dc42 said in Does Duet 6XD support RS485 communication:

@developeralgo222 do you intend to use the Modbus RTU protocol to communicate with the feeders?

Yes

Hi,
just a sidenote: I just stumbled across an vacuum generator that works with compressed air. Together with a pneumatic valve it would make a cheap and easy PnP tool.
No need for an expensive vacuum pump, a single generator will use around 9l/min. Even a cheap airbrush compressor can handle that.
It's called SMC ZU05S
I ordered a few variants on aliexpress for ~4€ each to build a vacuum table (video). They are impressivly strong...

@developeralgo222 can you confirm that the replacement boards have solved the problem?

I have the two 3HC and one 6XD boards you returned set up on the bench and connected them together using two Kenable CAN cables. Both 3HC boards had the termination jumpers installed when they arrived, so I removed the jumpers on the middle board. They are all syncing reliably. I will look at the CAN signals on an oscilloscope later to check that the signal levels are correct.

@droftarts , yes just was reading that as you posted it . got it. done. No more timeout errors but still having issue with sending M950 Jx tests (J1 to J6 )

@T3P3Tony said in Wiring Vacuum Pressure Sensors to Duet 6XD and 3HC:

@developeralgo222 the optoisolated outputs are not analog outputs. Do the valves need to be operated as analog devices or can they be digital (on/off)

Not really. The valves have Digital NPN signal output (black wire ) so i don't need analog output in this case. i only need 6 outlets that can provide 24V on same 6XD board. Would this work ok by looking at the device datasheet that they sent me that is linked below and above ?

i think this is a local chinese market version of SMC type CM85 Vacuum Generators ) LINGERA_CM85_10_A_6S_P04_Vacuum_generator_operating_instructions.pdf

SMC_NPN_Integrated_Vacuum_Generator_Wiring.png

Brown Wire (V+) -----> OUT 3 -5 (V_OUTLC1 Pin) == 3 solenoid connections and Opto OUT 5 - 8 (V_FUSED Pin) == 3 remaining solenoid connections in order to pick 24V

Blue Wire (V-) ------> OUT 3 -5 (GND Pin) and Opto OUT 5 - 8 (GND Pin)

Black Wire (Digital NPN Signal Output -- Valve 1 to 6) ------> IO_3_IN to IO_8_IN ( io_x_out pin )

@developeralgo222 I suggest you star a separate thread for that issue. Start it by describing what doesn't work and what it does instead. Include your config.g file.

@sebkritikel
Motors and Corresponding External Drivers

Closed Loop Motors:

(48V DC recommended for Nema 34 & 36V DC for Nema 23 )

3 x Nema 34 Closed Loop Motor ( 86HSE8N-BC38 ) each with HSS86 Hybrid Servo Driver 2 x Nema 23 Closed Loop Motor ( 57HSE76-2N-D25) each with 2HSS57 Hybrid Servo Driver

Open Loop Motors:

( 24V DC recommended for Nema 11 & 17 )

As per the support info from this forum, i might not need to use the 9 x External drivers for the 9 x Motors directly connected to 3 x 3HC expansion boards

3 x Nema 17 Open Loop Stepper Motor (Benzhi BD4248 ) each with Benzhi Microstep Driver(DM542 driver clone, i think) for driving the 6 heads/Nozzles along the Z-axis 6 x Nema 11 Open Loop Stepper Motor (Benzhi BT12811 ) each with Benzhi Microstep Driver (DM542 driver clone, i think) for the Nozzles/Heads

Duets:

1 x Duet 3 6XD Main Board ( All Closed Loop Motors & Drivers will connect to this 6XD board) 3 x Duet 3 3HC Expansion Boards ( All Open loop Motors will directly connect to 3 x 3HC expansion boards therefore avoiding external drivers and using 3HC in-built Drivers)

Endstops:

Several endstops (20+) for the various Axes as required--- Panasonic PM25U & PM25L

@developeralgo222 I suggest you ask on the OpenPnP forum what OpenPnP expects the Duet to present. I expect it will want to see the usual XYZ axes plus additional axes for controlling the nozzles.

The online configurator at https://configtool.reprapfirmware.org/Start will get you started with configuring communication with the expansion board and the XYZ axes. You will then need to edit the config.g file to create the additional axes using one or more M584 commands.

I'm currently at FormNext but I will try to answer your questions.

HTH David