Really looking forward to the input shaping work that is already happening!
I have a question though.
I'm currently building the wiring loom for my custom toolchanger and was wondering if there is any thoughts yet on whether or not the Duets will have the abilitiy to connect something like an ADXL345 sensor to them for auto calibrating the input-shaping parameters.
If so, is there any preferred connection method yet (I2C vs SPI), if there is, I'd directly include the necessary cables in my loom to the carriage head, which has a built-in mount for such a sensor and save me some headache of having to rebuilt the loom further down the line.

Thanks

Hello,

my toolchanger has prime/brush macros as part of the actual toolchange code and I wonder if there is a way to check for "is extruder hot enough for extrusion" based on the temperatures set in M302? (without manually checking for hardcoded temps)

Basically I want to skip the entire prime/brush cycle if I select a given tool when it's cold. Right now it will still try to do it and spawn the expected "too cold for extrusion" errors.
While this is not doing any harm, I'd still like to avoid that

Oh wow, I think i finally figured out what's going on. At least something that is going on.

My hotend holder is deforming under the pressure from the extruder... This tilts the whole hotend, moving the nozzle in Y and Z.

I just noticed this very extremely when going from first to second layer, the first layer is fairly slow (30m/s) and the second is twice as fast.
The higher speed deformed the holder a lot more, giving an explanation for the perfect first layer and then the sudden issue with layer 2.

I'm not sure yet why it would cause issues during the first layer as it still sometimes does, but right now I'm printing beefier holders and then see if that helps.
T1 was also less affected since it's using a 0.4mm nozzle vs the 0.3mm on T0...

Fingers crossed that this is purely a hardware issue on my side and no obscure firmware thing

On my custom toolchanger I have seen similar super slow moves while changing tools. I think they are related to the current position being out of the normal limits, if I set the tool macros to leave the active tool within the allowed area after tfree, it works as expected.

Do you move your tools outside the normal limits for parking by any chance?

Yea, I think this was indeed the problem. After installing much stronger parts for the hotend holder, the nozzle does not dive anymore. (Btw these weren't stupidly small parts or bad filament, they were printed in carbon fiber reinforced nylon, which is much stiffer than anything else I have around, so that really wasn't on my radar...)

@dc42 any insight?

On my custom toolchanger I have seen similar super slow moves while changing tools. I think they are related to the current position being out of the normal limits, if I set the tool macros to leave the active tool within the allowed area after tfree, it works as expected.

Do you move your tools outside the normal limits for parking by any chance?

@jay_s_uk Hm, thanks for the link, but I think that doesn't quite describe my problem.

I'm fine with the tool scripts running without being homed (in fact I need that), my problem is that when I then want to home within the toolscript, it fails silently and does not continue with the toolchange.

@jay_s_uk Ok, thanks, that's good to know. Do you have any details about the why?

@chrishamm @dc42 can we get DWC adjusted so that tool changes and filament change commands home the printer first then or something? Because in the current state they are useless in un-homed state due to the mentioned issue.

Hello,

I'm currently working on ironing out some minor inconviniences with my toolchanger and one thing I noticed is, that I can't pick tools starting with an unhomed printer.

My tpre macro homes the printer if needed and only then continues to let tpost pick the tool. However, for some reason, RRF stops executing the toolchange after tpre, tpost is never called and therefore my tool is not actually picked up.
Further investigation shows that as soon as G28 or homeall.g is executed inside the tpre macro, things end up not working.

Here are the relevant scripts:

tpre0

; tpre0.g
; called before tool 0 is selected
echo "tpre0 start"

M98 P"/macros/Toolchanging/Advanced/HomeIfNotHomed"

echo "tpre0 after homing"

;WARNING! WARNING! WARNING! WARNING! WARNING! WARNING! WARNING! WARNING! WARNING! WARNING! WARNING! WARNING!
;if you are using non-standard length hotends ensure the bed is lowered enough BEFORE undocking the tool!
G91
G1 Z10 F3000
G90
M400
echo "tpre0 end"

HomeIfNotHomed

if !move.axes[0].homed || !move.axes[1].homed || !move.axes[2].homed || !move.axes[3].homed
  G28

homeall

; homeall.g
; called to home all axes

M98 P"homey.g"			; Home Y first, so that a head that is currently in one of the tool docks home correctly
M98 P"homex.g"			; Home X 
M98 P"homec.g"			; Home C (ToolHead)
M98 P"homez.g"			; Home Z

homex

; homex.g
; called to home the X axis
;
; generated by RepRapFirmware Configuration Tool v2 on Thu Dec 13 2018 18:14:06 GMT+0100 (Central European Standard Time)
G91               ; relative positioning
G1 Z5 F1000 H2    ; lift Z relative to current position
G1 H1 X400 F10000 ; move quickly to X axis endstop and stop there (first pass)
G1 X-5 F10000       ; go back a few mm
G1 H1 X400 F360  ; move slowly to X axis endstop once more (second pass)
G90               ; absolute positioning

homey

; homey.g
; called to home the Y axis
;
; generated by RepRapFirmware Configuration Tool v2 on Thu Dec 13 2018 18:14:06 GMT+0100 (Central European Standard Time)
G91               ; relative positioning
G1 Z5 F1000 H2    ; lift Z relative to current position
G1 H1 Y-400 F10000 ; move quickly to Y axis endstop and stop there (first pass)
G1 Y5 F10000       ; go back a few mm
G1 H1 Y-400 F360  ; move slowly to Y axis endstop once more (second pass)
G90               ; absolute positioning

homez

; homez.g
; called to home the Z axis
;
; generated by RepRapFirmware Configuration Tool v2 on Thu Dec 13 2018 18:14:06 GMT+0100 (Central European Standard Time)

if sensors.gpIn[0].value = 0 || sensors.gpIn[1].value = 0 ;|| sensors.gpIn[2].value = 0 || sensors.gpIn[3].value = 0
	M291 S1 T5 P"Please return tool to dock before homing Z" R"Can't home Z"
	abort


G90               ; absolute positioning
G1 X0 Y0 F15000 ; go to first probe point
G30               ; home Z by probing the bed
G91               ; relative positioning
G1 Z10 F1000

homec

; homec.g
; called to home the C axis (coupler)

if sensors.gpIn[0].value = 0 || sensors.gpIn[1].value = 0 ;|| sensors.gpIn[2].value = 0 || sensors.gpIn[3].value = 0
	M291 S1 T5 P"Please return tool to dock before homing coupler" R"Can't home coupler"
	abort

G91
M400
M913 C60		; C MOTOR TO 60% CURRENT
G1 H2 C-300 F10000
G92 C0
G90
M400
M913 C100			; C MOTORS TO 100% CURRENT

M98 P"/macros/Toolchanging/Coupler - Unlock"		; open coupler

Coupler - Unlock

if !move.axes[3].homed ;abort if C is not homed abort
	
M564 S0		
G90
G1 C120 F50000
M564 S1

tpost (I'm leaving out the macros here, the executing doesn't even reach the echo at the beginning)

; tpost0.g
; called after tool 0 has been selected
echo "tpost0 start"

M703 ;restore filament settings

M564 S0 ; allow movement outside the normal limits

M98 P"/macros/Toolchanging/Coupler - Unlock"	; unlock Coupler
M98 P"/macros/Toolchanging/Advanced/MoveToDock/T0"
M98 P"/macros/Toolchanging/Coupler - Lock"	; close Coupler

;heatup
M116 P0

M98 P"/macros/Toolchanging/Advanced/MoveToDock/MoveOut"

M400 ;wait for toolchange moves to finish
if sensors.gpIn[0].value = 1
	echo "Tool 0 is not loaded correctly, aborting..."
	M98 P"/macros/Toolchanging/Advanced/HandleToolchangeFault"

;M208 Y66						; set Y max for this tool
M564 S1 						; apply the normal limits again

M98 P"/macros/Toolchanging/Advanced/PrimeBrush"

M106 R1	; restore print cooling fan speed

config.g

; Configuration file for Duet WiFi (firmware version 3)
; executed by the firmware on start-up
;
; generated by RepRapFirmware Configuration Tool v2.1.8 on Sun May 10 2020 15:03:19 GMT+0200 (Mitteleuropäische Sommerzeit)

; General preferences
;M929 S3                                        ;enable debug logging
M575 P1 S1 B57600                               ;Enable PanelDue Port
G90                                             ; send absolute coordinates...
M83                                             ; ...but relative extruder moves
M550 P"V-Core Pro"                              ; set printer name

M669 K1                                         ; select CoreXY mode

; Network
M552 S1                                         ; enable network

; Drives
M569 P0 S0                                      ; physical drive 0 goes forwards X/Y
M569 P1 S0                                      ; physical drive 1 goes forwards X/Y
M569 P2 S0                                      ; physical drive 1 goes forwards Coupler
M569 P3 S0                                      ; physical drive 2 goes forwards E1
M569 P4 S0                                      ; physical drive 2 goes forwards E2
M569 P7 S0                                      ; physical drive 3 goes forwards Z1
M569 P8 S0                                      ; physical drive 3 goes forwards Z2
M569 P9 S0                                      ; physical drive 3 goes forwards Z3

M584 X0 Y1 C2 Z7:8:9 E3:4                       ; set drive mapping (motion system)
M584 E3:4                                       ; set drive mapping (extruders)

; Axis Limits
M208 X-146:159 Y-149:72 C0:250 Z0:290           ; set axis minima & maxima
M671 X-161:4:189 Y-118:177:-118 S20             ; set Z leadscrew positions

M92 X160.00 Y160.00 C200.00 Z800.00             ; set steps per mm
M350 X16 Y16 C16 Z16 I1                         ; configure microstepping with interpolation
M566 X500 Y500 C2 Z50                           ; set maximum instantaneous speed changes (mm/min) 
M203 X30000 Y30000 C10000 Z2000                 ; set maximum speeds (mm/min)
M201 X3000 Y3000 C500 Z300                      ; set accelerations (mm/s^2)

M906 X1800 Y1800 C500 I30                       ; set motor currents (mA) and motor idle factor in per cent
M906 Z1400 I100                                 ; set motor currents (mA) and motor idle factor in per cent
M906 E1100:1100 I100                            ; set motor currents (mA) and motor idle factor in per cent (Flex3Drive)
M84 S30                                         ; Set idle timeout    
;M204 P1500 T3000 
;M593 F40  ; cancel ringing  

;=================== Flex3Drive ======================
M92 E8600:8600                                  ; set steps per mm 
M350 E8:8 I0                                    ; configure microstepping 
M566 E10:10                                     ; set maximum instantaneous speed changes (mm/min)
M203 E4000:4000                                 ; set maximum speeds (mm/min) 
M201 E150:150                                   ; set accelerations (mm/s^2)
;====================================================

; Endstops
M574 X2 S1 P"xstop"                             ; configure active-high endstop for high end on X via pin xstop
M574 Y1 S1 P"ystop"                             ; configure active-high endstop for high end on Y via pin ystop
M574 Z0                                         ; No Z-Endstop (use as probe instead)
M574 C1 S3                                      ; Stall detect coupler at low end of its range

; Z-Probe
M558 P8 C"zstop" H3 F1000 T20000                ; set Z probe type to unfiltered switch and the dive height + speeds
G31 X0 Y0 Z0 P200                               ; set Z probe trigger value, offset and trigger height
M557 X-146:150 Y-149:72 P10                     ; define mesh grid

;Stall Detection
M915 C S6 F0 H200 R0                            ; Coupler

; Heaters
M308 S0 P"bedtemp" Y"thermistor" T100000 B3950  ; configure sensor 0 as thermistor on pin bedtemp
M950 H0 C"bedheat" T0                           ; create bed heater output on bedheat and map it to sensor 0
M143 H0 S121                                    ; set temperature limit for heater 0 to 121C
M307 H0 A305.7 C444 D2.9 V24.2 B0               ; Bed PID Tuning
M140 H0                                         ; map heated bed to heater 0

M308 S1 P"e0_temp" Y"thermistor" T100000 B4725 C7.06e-8  ; configure sensor 1 as thermistor on pin e0temp
M950 H1 C"e0heat" T1                            ; create nozzle heater output on e0heat and map it to sensor 1
M143 H1 S301                                    ; set temperature limit for heater 1 to 301C

M308 S2 P"e1_temp" Y"thermistor" T100000 B4725 C7.06e-8  ; configure sensor 2 as thermistor on pin e1temp
M950 H2 C"e1heat" T2                            ; create nozzle heater output on e1heat and map it to sensor 2
M143 H2 S301                                    ; set temperature limit for heater 2 to 301C

M302 S190 R190                                  ;Cold extrusion settings

M307 H1 R3.975 C149.3 D1.95 S1.00 V24.0         ; PID Tuning T0
M307 H2 R4.011 C141.6 D1.77 S1.00 V24.0         ; PID Tuning T1

M376 H20                                        ; Set bed correction taper

; Fans
M950 F0 C"duex.fan3"                            ; Hotend Fan Tool 1
M106 P0 S255 L255 H1 T50                        ; Hotend Fan Tool 1
M950 F1 C"duex.fan4" Q50                        ; Layer Fan Tool 1
M106 P1 S0 H-1                                  ; Layer Fan Tool 1

M950 F2 C"duex.fan5"                            ; Hotend Fan Tool 2
M106 P2 S255 L255 H2 T50                        ; Hotend Fan Tool 2
M950 F3 C"duex.fan6" Q50                        ; Layer Fan Tool 1
M106 P3 S0 H-1                                  ; Layer Fan Tool 1

;Z-Offset: 	If nozzle is too close to bed _reduce_ offset (negative number becomes more negative)
;			If nozzle is too far away, _increase_ offset (negative number becomes less negative)
; Tools
M563 P0 D0 H1 F1                                ; define tool 0
G10 P0 X-9 Y39 Z-4.17                           ; set tool 0 axis offsets
G10 P0 R0 S0                                    ; set initial tool 0 active and standby temperatures to 0C

M563 P1 D1 H2 F3                                ; define tool 1
G10 P1 X-9.35 Y38.5 Z-4.24                      ; set tool 1 axis offsets
G10 P1 R0 S0                                    ; set initial tool 1 active and standby temperatures to 0C

;Dock present switches
M950 J0 C"duex.e2stop"                          ; Tool 0 Dock switch
M950 J1 C"duex.e3stop"                          ; Tool 1 Dock switch

M950 P1 C"duex.e5heat"                          ;Light switch PWM
;M591 D0 P1 C"e0stop" S1                        ;Filament Sensor E0


;Pressure Advance
;M572 D0 S0.2

; Miscellaneous
M98 P"/macros/Misc/Lights/On"

The console output for this looks like:

29.3.2021, 14:04:26	tpre0 end
29.3.2021, 14:04:26	tpre0 after homing
29.3.2021, 14:04:14	T0 tpre0 start

So basically, if I try to home the printer inside the tpre macro, it fails silently and does not execute tpost. Any idea why? Is this expected? If so, how do I pick up a tool from unhomed state via DWC?

Thank you!

Yea, I think this was indeed the problem. After installing much stronger parts for the hotend holder, the nozzle does not dive anymore. (Btw these weren't stupidly small parts or bad filament, they were printed in carbon fiber reinforced nylon, which is much stiffer than anything else I have around, so that really wasn't on my radar...)

Oh wow, I think i finally figured out what's going on. At least something that is going on.

My hotend holder is deforming under the pressure from the extruder... This tilts the whole hotend, moving the nozzle in Y and Z.

I just noticed this very extremely when going from first to second layer, the first layer is fairly slow (30m/s) and the second is twice as fast.
The higher speed deformed the holder a lot more, giving an explanation for the perfect first layer and then the sudden issue with layer 2.

I'm not sure yet why it would cause issues during the first layer as it still sometimes does, but right now I'm printing beefier holders and then see if that helps.
T1 was also less affected since it's using a 0.4mm nozzle vs the 0.3mm on T0...

Fingers crossed that this is purely a hardware issue on my side and no obscure firmware thing

I've just printed a portion of the Moai with switched extruders, so what was previously printed by T0 is now T1 and vice versa.

Observations:

• T0 Z-Offset worked for about 3/4 of its layer, then it blocked the nozzle, I let it continue because T0 was the accents so no huge harm
• T1 Z-Offset is spot on, first layer consistently looks as good as it used to look before the toolchanging hardware
• T1 following layers are all perfectly aligned in X, Y and Z, this makes me think that my motion system itself is fine (ie no huge Z backlash issues or head positional issues)
• T0 following layers show the known problem, not aligned properly, squishing in all directions...

This leads me to the following possible causes:

• T0 tool is somehow broken or damaged and behaves differently than what is expected
• T0 offsets are being messed with in software somehow

@dc42 Yep, custom motion system, will check all the Z mountings anyway, good idea

@jay_s_uk Yea that's supposed to be the next step, but I really think something is fundamentally wrong with my setup and the vernier print should work just fine for getting things to print in a useful manner.
I mean, even single extruder prints don't work due to the Z issue...