Hello
I want to make one arm SCARA drawing manipulator with large working area. So I decided to use Teknic Clearpath integrated servo motors.
I try to fing answer at wiki how to connect them, but “Using external drivers” page are empty.
Can you please explain how to connect Clearpath to Duet2wifi?
Thank you!
I need not less than 5VDC and 8mA. So I need to order Expansion breakout board for Duet2, correct?
Also can I make some changes at the interface layout? For example delete joggers? Or 3 different homing buttons?
from Clearpath manual:
@fcwilt
Heavy X axis with Z axis mounted on it.
taking into account the low cost of the steppers, and 6+3 driver on Duet3 + 3HC I decide to put 2 motors for 1 belt and thereby reduce the backlash and increase the torque. Which is especially important for high accelerations of a heavy head. And I plan to put a spindle in addition to the print head to be able to finish the surface after printing and drilling holes
@o_lampe
in this case endstop detection will be considered at a stall detection from the first of the two motors if they do not stall simultaneously? Or do both motors need stall detection to trigger the endstop?
@phaedrux any idea if sensorless homing should use both motors pulling one belt or just one of them?
I probably can place endstops for the Y axis. But for X and Z it will be almost impossible.
For sensorless homing should I use both motors pulling one belt or just one of them?
Hello
I building a laser engraver with Duet3 + Duet 3 Expansion board 3HC
I have 2 motors on X (both motors moves one X belt), 4 Motors on Y (two motors moves left Y belt, two motors moves right Y belt) and 2 on Z (8mm lead screw).
Can I use sensorless homing in case of 2 motor moving same belt?
what will the Homeall file look like in this case?
Do I need to change motors mapping?
; Drives
M569 P0.0 S1 ; physical drive 0.0 goes forwards
M569 P0.1 S1 ; physical drive 0.1 goes forwards
M569 P0.4 S1 ; physical drive 0.5 goes forwards
M569 P0.2 S1 ; physical drive 0.2 goes forwards
M569 P0.3 S1 ; physical drive 0.3 goes forwards
M569 P1.0 S1 ; physical drive 1.0 goes forwards
M569 P1.1 S1 ; physical drive 1.1 goes forwards
M569 P1.2 S1 ; physical drive 1.2 goes forwards
M584 X0.2:1.2 Y0.0:0.3:0.4:1.0 Z0.1:1.1 ; set drive mapping
M350 X16 Y16 Z16 I1 ; configure microstepping with interpolation
M92 X80.00 Y80.00 Z400.00 ; set steps per mm
M566 X600.00 Y600.00 Z100 set maximum instantaneous speed changes (mm/min)
M203 X6000.00 Y6000.00 Z200.00 ; set maximum speeds (mm/min)
M201 X500.00 Y500.00 Z60.00 ; set accelerations (mm/s^2)
M906 X1200 Y2400 Z1200 I30 ; set motor currents (mA) and motor idle factor in per cent
M84 S30 ; Set idle timeout
; Axis Limits
M208 X0 Y0 Z0 S1 ; set axis minima
M208 X300 Y680 Z120 S0 ; set axis maxima
...
M106 with S250 S0 S10 S100 and M107 does not effect on blower
; Configuration file for Duet 3 (firmware version 3)
; executed by the firmware on start-up
;
; generated by RepRapFirmware Configuration Tool v3.1.4 on Tue Sep 01 2020 22:07:15 GMT-0400 (EDT)
; General preferences
G90 ; send absolute coordinates...
M83 ; ...but relative extruder moves
M550 P"Duet 3" ; set printer name
M665 L460.000:460.000:460.000 R244.194 H673.6 B190.0 X-0.140 Y-0.034 Z0.000 ; Set delta radius, diagonal rod length, printable radius and homed height
M666 X0.22 Y0.12 Z-0.34 A0.00 B0.00 ; put your endstop adjustments here, or let auto calibration find them
; Drives
M569 P0.0 S1 ; physical drive 0.0 upper 0 tower goes back
M569 P0.1 S0 ; physical drive 0.1 upper 1 tower goes forwards
M569 P0.2 S1 ; physical drive 0.2 upper 2 tower goes back
M569 P0.3 S0 ; physical drive 0.3 lower 2 tower goes forwards
M569 P0.4 S0 ; physical drive 0.4 lower 1 tower forwards
M569 P0.5 S0 ; physical drive 0.5 lower 0 tower goes forwards
M569 P20.0 S0 ; physical drive 20.0 - extruder on board 20 goes Back
M584 X0.1:0.4 Y0.0:0.5 Z0.2:0.3 E20.0 ; set drive mapping
M350 X16 Y16 Z16 E16 I1 ; configure microstepping with interpolation
M92 X160.00 Y160.00 Z160.00 E415.00 ; set steps per mm
M566 X800.00 Y800.00 Z800.00 E600.00 ; set maximum instantaneous speed changes (mm/min)
M203 X5000.00 Y5000.00 Z5000.00 E600.00 ; set maximum speeds (mm/min)
M201 X2000.00 Y2000.00 Z2000.00 E1000.00 ; set accelerations (mm/s^2)
M906 X1600 Y1600 Z1600 E900 I30 ; set motor currents (mA) and motor idle factor in per cent
M84 S30 ; Set idle timeout
; Axis Limits
M208 Z0 S1 ; set minimum Z
; Endstops
M574 X2 S1 P"io1.in" ; configure active-high endstop for HIGH end on X via pin io0.in
M574 Y2 S1 P"io0.in" ; configure active-high endstop for HIGH end on Y via pin io1.in
M574 Z2 S1 P"io2.in" ; configure active-high endstop for HIGH end on Z via pin io2.in
; Z-Probe
M558 P8 C"20.io0.in" ; set Z probe type to 8 and
G31 P50 X-21 Y-8 Z1 ; set Z probe trigger value, offset and trigger height
M557 R150 S50 ; define mesh grid
; Heaters
M308 S0 P"temp0" Y"thermistor" T100000 B4138 ; configure sensor 0 as thermistor on pin temp3
M950 H0 C"out0" T0 ; create bed heater output on out1 and map it to sensor 0
M307 H0 B1 S1.00 ; enable bang-bang mode for the bed heater and set PWM limit
M140 H0 ; map heated bed to heater 0
M143 H0 S120 ; set temperature limit for heater 0 to 120C
M308 S1 P"20.temp0" Y"thermistor" T500000 B4723 C1.19622e-7 ; configure sensor 1 as thermistor on pin 20.temp0
M950 H1 C"20.out0" T1 ; create nozzle heater output on 20.out0 and map it to sensor 1
M307 H1 B0 S1.00 ; disable bang-bang mode for heater and set PWM limit
; Fans
M950 F0 C"20.out1" Q1000 ; create fan 0 part cooling on pin 20.out1 and set its frequency
M106 P0 S0 ; set fan 0 value. Thermostatic control is turned off
M950 F1 C"20.out2" Q500 ; create fan 1 heatsink on pin 20.out2 and set its frequency
M106 P1 S0 H1 T45 ; set fan 1 value. Thermostatic control is turned on 45C
; Tools
M563 P0 D0 H1 F0 ; define tool 0
G10 P0 X0 Y0 Z0 ; set tool 0 axis offsets
G10 P0 R0 S0 ; set initial tool 0 active and standby temperatures to 0C
; Custom settings are not defined
M501
M122
=== Diagnostics ===
RepRapFirmware for Duet 3 MB6HC version 3.1.1 running on Duet 3 MB6HC v0.6 or 1.0 (SBC mode)
Board ID: 08DJM-956L2-G43S4-6JTDJ-3SJ6S-986GH
Used output buffers: 1 of 40 (10 max)
=== RTOS ===
Static ram: 154604
Dynamic ram: 161704 of which 160 recycled
Exception stack ram used: 416
Never used ram: 76332
Tasks: NETWORK(ready,1972) HEAT(blocked,1188) CanReceiv(suspended,3460) CanSender(suspended,1460) CanClock(blocked,1436) TMC(blocked,68) MAIN(running,4960) IDLE(ready,76)
Owned mutexes:
=== Platform ===
Last reset 00:49:42 ago, cause: software
Last software reset at 2021-01-28 23:24, reason: User, spinning module LinuxInterface, available RAM 75988 bytes (slot 2)
Software reset code 0x0010 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x0444a000 BFAR 0x00000000 SP 0xffffffff Task MAIN
Error status: 0
MCU temperature: min 46.5, current 47.0, max 47.3
Supply voltage: min 25.9, current 26.0, max 26.0, under voltage events: 0, over voltage events: 0, power good: yes
12V rail voltage: min 12.2, current 12.3, max 12.3, under voltage events: 0
Driver 0: standstill, reads 48539, writes 19 timeouts 0, SG min/max 0/199
Driver 1: standstill, reads 48539, writes 19 timeouts 0, SG min/max 0/210
Driver 2: standstill, reads 48540, writes 19 timeouts 0, SG min/max 0/220
Driver 3: standstill, reads 48540, writes 19 timeouts 0, SG min/max 0/255
Driver 4: standstill, reads 48541, writes 19 timeouts 0, SG min/max 0/207
Driver 5: standstill, reads 48541, writes 19 timeouts 0, SG min/max 0/233
Date/time: 2021-01-29 00:13:55
Slowest loop: 4.77ms; fastest: 0.14ms
=== Storage ===
Free file entries: 10
SD card 0 not detected, interface speed: 37.5MBytes/sec
SD card longest read time 0.0ms, write time 0.0ms, max retries 0
=== Move ===
Hiccups: 0(0), FreeDm: 375, MinFreeDm: 369, MaxWait: 10723ms
Bed compensation in use: none, comp offset 0.000
=== MainDDARing ===
Scheduled moves: 5, completed moves: 5, StepErrors: 0, LaErrors: 0, Underruns: 0, 0 CDDA state: -1
=== AuxDDARing ===
Scheduled moves: 0, completed moves: 0, StepErrors: 0, LaErrors: 0, Underruns: 0, 0 CDDA state: -1
=== Heat ===
Bed heaters = 0 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1, chamberHeaters = -1 -1 -1 -1
=== GCodes ===
Segments left: 0
Movement lock held by null
HTTP* is ready with "M122" 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 0, running macro
Aux2 is idle in state(s) 0
Autopause is idle in state(s) 0
Code queue is empty.
=== Network ===
Slowest loop: 0.82ms; fastest: 0.01ms
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: 0 of 8
M122 B20
Diagnostics for board 20:
Board TOOL1LC firmware 3.1.0 (2020-05-15b1)
Never used RAM 8.5Kb, max stack 368b
HEAT 1064 CanAsync 1428 CanRecv 1384 TMC 196 AIN 524 MAIN 2284
Last reset 01:01:12 ago, cause: power up
Driver 0: standstill, SG min/max 0/0, read errors 0, write errors 0, ifcount 13, reads 1283, writes 13, timeouts 1, DMA errors 0, failedOp 0x80
Moves scheduled 0, completed 0, hiccups 0
VIN: 26.1V
MCU temperature: min 33.7C, current 36.8C, max 37.2C
Ticks since heat task active 152, ADC conversions started 3658040, completed 3658038, timed out 0
Last sensors broadcast 00000002 found 1 155 ticks ago
Free CAN buffers: 36
NVM user row b1d088a9 fffff8bb d33ea5c7 72796b23
TSENS 000e6e GAIN 014eb1 OFFS 002812 CAL 1f2c
Hello
I try to connect 3 wire FAN BLOWER 35X10MM 12VDC WIRE (Delta Electronics BFB03512HHA-AF00) to Out 1 of Toolboard.
Fan start spinning at the power up and continues to spin at a constant speed regardless of the settings and commands M106 and M107.
Wires connected: Black to GND, Red to +12V, Blue to out1
; Fans
M950 F0 C"20.out1" Q1000 ; create fan 0 part cooling on pin 20.out1 and set its frequency
M106 P0 S0 ; set fan 0 value. Thermostatic control is turned off
M950 F1 C"20.out2" Q500 ; create fan 1 heatsink on pin 20.out2 and set its frequency
M106 P1 S0 H1 T45 ; set fan 1 value. Thermostatic control is turned on 45C
I tried several Q parameters. H-1 at M106 also didn't help.
any ideas that I messed up?
@oozeBot
Thank you! It performs self test now. 10 times (10 deploys and 10 retracts)
@dc42
@oozeBot
I add those 3 lines in my config file
M280 P0 S60 ; BLtouch - toggle switch mode
G4 P1000 ; wait 1 second
M280 P0 S120 ; BLtouch toggle self-test
, but BL-touch still does not perform self test at startup. M401 and M402 works
There exactly I should put these lines? Just before ; Z-Probe ?
Or at the top or bottom?
And do I need any modifications to those codes since I use Toolboard with CAN address 20, not 121?