Managed to get 2nd gantry working.

Had a lot of trouble with Motors - the ones I saved from a WeedoX40 wouldn't work.

Eventually I discovered that they have different pin connections to Sovol motors - with have the coils connected on pins 1+4 and 3+6. My motors were 1+3 and 4+6.

So found some other motors - from my MPCNC - which are more powerful - 1.7a - and they eventually worked.

Then had a lot of trouble withy homing and setting values for TMC drivers - will probably switch to end stops for the final build - but eventually got it working.

Then next problem was prints keep losing position - eventually worked it out that I was moving too fast for the MPCNC motors - F36000 was too fast for them - so slowed down to 18000 (300mm/s). And that sorted out the problem.

Decided to try a print - despite plastic bearing posts, and plastic linear rail carriages - ran the print at half speed - but it worked.

Did an initial print on the from gantry - then swapped over the extruder and stepper connections - and reconfigured Klipper for the different motors.

Demo of print on 2nd gantry here
https://youtu.be/7ar74Ne5ryI

Have learn't quite a lot about configuring steppers which will come in useful once I try the Duet migration - which is probably now the next step.

First successful Duet Dual Gantry IDEX test. - ( Phase 1 part 3)

https://youtu.be/A485TMKhmV4?si=gRNhVj0sPUrHJKw3

First layers not perfect and running a bit slow for some reason - but overall a big step forward.

Next step - multiple motion system...

@oliof Appreciate that this is a fairly old topic - and sorry for the long post - just wanted to get a few ideas down together.

I have been investigating some options for a multi headed / multi colour printer for printing large multi coloured models.

I think the RatRig VCore 4 / With Hybrid Motors and IDEX 'Dual Markforge' is something like what you were describing in your post back in May.

What I am thinking along the lines of is something like a RatRig VCore4 IDEX RMMU, with a 2nd IDEX Gantry, which also has the ability for limited Z movement too.

I think it is going to need to be powered by Duet/Reprap firmware though - rather than RatOS/Klipper

My ultimate target is a machine/set of machines with the following capabilities:

1. Large build area - at least 300X x 500Y x 250Z - With at least two independent gantries for parallel printing of large objects - probably using the Reprap 3.5 Multi Motion System parallel printing capability
2. Each gantry being IDEX - to allow for fast colour changes for most commonly used colours, and for some models - mirror mode or duplicate mode parallel printing within the IDEX gantry.
3. Filament Multiplexing - probably using something like the Reprap RMMU or BambuLab AMS - as I need up to around 12 colours in total per object.
4. Parallel background colour feeding and purging etc. - which is hopefully supported by RepRep 3.5 (but not by Klipper/RatOS I believe). - See part 2 video for more details of this.
5. For the multiplexed colour changes - The ability for very efficient 'flush-into object' printing to be done - with the flush-into objects potentially being printed at a different Z heights to the main object.
6. Ideally in cases where fairly simple small prints are already in progress on only one of the gantries - the ability to separately start a simple 2nd print on the spare gantry.

I have created a few videos demonstrating a few ideas - the most relevant to my current thoughts is Part3 of this IDEX series.
IDEX Part 3 - Dual IDEX

'IDEX Part 6 - Motors and Belts'
Youtube link

What I would like to do next is add the ability for the 2nd Gantry to have a small amount of Z axis movement ability - so that it can be completely independent of the first gantry. I will probably add a few of the Reprap 3.5 Multi Motion System Gcode commands to my Blender add-on to drive the fully independent simulations.

Will probably also add some animations along the lines of the diagrams posted by @droftarts in this thread to the simulations too.

The next problem is then splitting up models into sections for Multi Motion printing.

I have done some reading of this forum of posts about Multi Motion printing - mainly by @dc42 and can't find a lot of details of any slicer developments.

So unless work is already underway in this area I am thinking about creating a GCODE post processor that does a basic split of single head multi colour prints (probably sliced for a BambuLab X1C) into up to 3 or 4 separate areas per layer if they are big enough be warrant parallel printing on the two gantries at the same time. The reason for the 4 areas is to avoid head clashes - see this diagram.

Plus probably a 2nd post processor that does some more automated mirror mode splitting - I am currently do this in my simulations by pre-splitting up the mirrored / duplicated and single threaded parts prior to slicing into different 'virtual colours' - am then using the tool change commands generated by the slicer to switch the 'virtual' printer between IDEX modes.

@T3P3Tony Ah - I see you can select the output voltage as being VIN (I didn't spot that initially) - so I think that way I will be able to get 24v on Out1 and Out2 - so that should solve my fan issue. thanks

Starting to plan for expansion boards - looks like there is room,

Tool Distribution board and first Mini5+ needed for Dual Gantry, with further Mini 5 probably needed for IDEX - unless I can reduce the stepper requirement - by using less for IDEX and Servo's for Z Hoppers.

@dwuk Going down a bit of a rabbit hole with the tweaking - decided to try accurately calculating the time for extrusions - including acceleration and deceleration etc - not sure if these calculations are correct - but probably doesn't matter too much at this stage.

Then used this to select passes with segments in them which quite a big print time difference and then have simply taken the segment with the longest time and either reduced its size down to the minimum size it can be for head clash avoidance, or halved its size. I have then added this adjustment onto the segment with the shortest time.

It didn't select the layers I expected - probably because the segments in the cab are already at minimum size.

It makes the print look a bit more messy - but at least I can pick out the adjusted layers quite easily,

Will run some prints through my simulations with and without the adjustments to see if the layers that have been adjusted print any more efficiently.

Example 3 gantry print shown - with pass1 heads shown in white and pass2 multi colour.

Homing working -

See short video demo

https://youtube.com/shorts/oHtVsdHTPQc?si=w-lnOgmzNzxqfvRK

Lots of refinements to do - but basic homing and 4 AXIS levelling done

@dwuk Servo wired up and tested. On the 1LC board io_0.out, with an LM2596 DC to DC convertor to bring down the 24V input to 5V for the servo.

Prototype parts printed - just need to install them and test them - might be a few days due to other commitments.

@dwuk Some Basic Info and some animations of what the parallel printing might look like

Youtube link

@jay_s_uk Thanks - that was my initial thought too - but the post above from 'a former user' about inductive load issues worried me a bit.

I suppose with those Motor Driver boards I could probably even drive it from an IO.out pin too.

Will look further into the heater option before purchasing the driver boards.

@dwuk Demo of backlash problem - comparison of the V vs Y belts.

https://youtu.be/DJ8Te6IcOyo

Got ball probes alignment macros (with loops and variables) working on the UV axis as well as the XY axis - both with the ball probe, plus also with an Ember Prototypes CXC - which is a camera pointing up at the nozzle.

Also created macros to search for the ball probe when it isn't quite where it is expected to be.

Alignment though is not that accurate yet.

The first problem that the camera has identified is backlash - which I am mainly getting on the UV axis, and more noticeably in the V direction. - its only about 0.1mm - but it does mean that if for example you move 10mm in the V direction and back you don't end up in the same spot. But if you move back another 10mm and then forward you get back pretty close to where you started.

Have tried removing the Phase2 IDEX carriage as I thought that might be impacting the movement - but that hasn't helped, plus have also tightened up the belts a fair bit - but am still getting the issue.

I guess it might be that my print head is not rigid enough - or it might be the motors.

Will try training the camera on other parts of the mechanism next to see if I can see where the backlash is coming from.

Impressive demo of SV08 toolchanger (phase 3 for me) here.

https://youtu.be/tg2vRfqMXYU?si=3NB5lVxPEerKP82u

One thought that that did occur is that it would work a lot faster if the tool rack had its own independent Z axis - so that the tools could be brought down much closer to the current build height, and then moved up as the print grows.

So yet another axis to add to my design - will probably do it with dual lead screws - as it doesn't need to be quick.

@dc42 thanks for the confirmation - will go ahead without the motor driver boards then.

Ordered one of these

Doesn't look like it needs much power

@jay_s_uk Thanks - that was my initial thought too - but the post above from 'a former user' about inductive load issues worried me a bit.

I suppose with those Motor Driver boards I could probably even drive it from an IO.out pin too.

Will look further into the heater option before purchasing the driver boards.

Thought it best to post against this old post - rather than create a new one.

I'm trying to create a automatically deployable XYZ ball probe - as per attached picture.

At present it is working with a 50kg Magnet to hold it in place on the bed

To make it automatically deployable I am thinking of replacing this with an 18kg electro magnet - like this one

Controlled from a fan output, via one of these

Will then use a fairly powerful servo to swing the probe out when needed, and retract it back when not in use.

Any thoughts appreciated.

For further background info see my 'Sovol SV08 Multiple Motion System Upgrade' thread.

Good progress made on Ball Probe

Demo of first attempt at Macro here - which I have initially done on the front Gantry

Video show G32 first, followed by Ball Probe alignment Macro
https://youtube.com/shorts/uPcV3BAuwyc?si=bT-t0YxPR4qDQWoo

Held in place for now by Magnets - but I would like to automate the deployment and stowing of the Probe.

The 4 magnets at the edge are for basic positioning, with the larger one near the probe to hold it in place.

probe.g Macro - Currently just front Gantry

G90
G1 U150 V290 F20000
G1 Z50 F5000
G1 X235 Y179 F10000
M574 Z1 S2 K3; Set Z to Ball Probe

; Find basic Z position



G1 H4 Z-10 F300
echo "Z", {move.axes[2].userPosition}
G1 Z50 F300
G1 H4 Z-10 F300
echo "Z", {move.axes[2].userPosition}
G1 Z48 F300
G1 H4 Z-10 F100
echo "Z", {move.axes[2].userPosition}
var ZP = move.axes[2].userPosition

G1 Z50 F5000

M574 Z1 S2 K0; configure Z axis endstop

; Now find X middle

G91
G1 X-10 F5000
G90
G1 Z{var.ZP-0.2} F300


G91
M574 X1 S2 K3
G1 H4 X+10 F300

echo "X1", {move.axes[0].userPosition}

G1 X-5
G1 H4 X+10 F300

echo "X1", {move.axes[0].userPosition}

G1 X-5
G1 H4 X+10 F300

echo "X1", {move.axes[0].userPosition}
var X1 = move.axes[0].userPosition

G1 Z5 F300
G1 X10  F5000
G1 Z-5 F300

G1 H4 X-10 F300
echo "X2", {move.axes[0].userPosition}

G1 X5
G1 H4 X-10 F300
echo "X2", {move.axes[0].userPosition}

G1 X5
G1 H4 X-10 F300
echo "X2", {move.axes[0].userPosition}
var X2 = move.axes[0].userPosition

G1 Z5

G90
var XM = (var.X1+var.X2)/2
G1 X{var.XM}

M574 X1 S3 ; configure X axis endstop

; Now Y
G91

G1 Y-10 F5000
G1 Z-5 F300
M574 Y1 S2 K3

G1 H4 Y+10 F300
echo "Y1", {move.axes[1].userPosition}

G1 Y-5 F5000

G1 H4 Y+10 F300
echo "Y1", {move.axes[1].userPosition}

G1 Y-3 F5000

G1 H4 Y+10 F100
echo "Y1", {move.axes[1].userPosition}
var Y1 = move.axes[1].userPosition

G1 Z5 F300
G1 Y10 F5000
G1 Z-5 F300

G1 H4 Y-10 F300
echo "Y2", {move.axes[1].userPosition}

G1 Y5 F5000
G1 H4 Y-10 F300
echo "Y2", {move.axes[1].userPosition}

G1 Y2 F1000
G1 H4 Y-10 F100
echo "Y2", {move.axes[1].userPosition}
var Y2 = move.axes[1].userPosition

var YM = (var.Y1 + var.Y2) / 2



G1 Z5 F300

G90
G1 X{var.XM} Y{var.YM} F2000








G90

M574 Y1 S3 ; configure Y axis endstop

Results from test - to show level of consistency
19/02/2025, 22:32:59 Y2 182.625
19/02/2025, 22:32:57 Y2 182.625
19/02/2025, 22:32:56 Y2 182.625
19/02/2025, 22:32:53 Y1 174.275
19/02/2025, 22:32:51 Y1 174.300
19/02/2025, 22:32:49 Y1 174.288
19/02/2025, 22:32:44 X2 243.038
19/02/2025, 22:32:42 X2 243.038
19/02/2025, 22:32:40 X2 243.038
19/02/2025, 22:32:37 X1 234.812
19/02/2025, 22:32:35 X1 234.812
19/02/2025, 22:32:32 X1 234.812
19/02/2025, 22:32:28 Z 45.645
19/02/2025, 22:32:26 Z 45.647
19/02/2025, 22:32:23 M98 P"0:/macros/Probe.g"
Z 45.647

Added optical limit switch to front gantry linear Z hopper - and it is working pretty well.

The limit switch triggers at about -1.6 below the Z height of the other gantry, and the Z hopper can drop down by a further around 0.5mm.

So the 2.1mm difference also allows 'Voron Tap' type Z height detection to also work if the extruder is lowered down - although haven't yet implemented this in homeX.

I changed the M569 definition of the stepper from D2 to D3 and I think that has made it quieter - but it is staying a little hot on idle - so I need to add some switching off of IDLE's somewhere into the macros (M84 B) - however this does mean it loses it homing status. Maybe lowering the current percentage might work instead.

Next step tomorrow is to try some tests with the ball probe - I think I will just print something that I can place 4 magnets around it to hold it in a fixed place on the build plate for stability - and see what I can create in terms of macro code to accurately locate it on one gantry, then get the other gantry to do the same probing to get the two aligned.

Would be interesting to see what @Sindarius has developed for this too.

In terms of where the place the probe on the build plate.

It the short term I think I will just manually place it somewhere - bet ideally I would like to make the alignment fully automated. Am wondering whether it might be feasible to cut a small hole in the build plate and create a mechanism to lift the probe up from below when required.

Any prints over this area could potentially just bridge over the hole.

Haven't yet added any magnets to hold the front gantry extruder down - but I think something at 45 degrees like the voron tap can be added later once I get to some high speed printing tests.

Added MGN9C carriage and Z lifter works quite well now.
See -
https://youtube.com/shorts/JexMhHyFkvI?si=BZMB12EFMrDNep2B

Next challenge after this is how to get a ball probe working with RepRap firmware to align the two heads - as per this Klipper add-on.

https://github.com/viesturz/NozzleAlign

I may have to do some maths in a macro to get this to work.

Am going to try one of the Ember Prototypes Camera based aligners too.

Just ordered two more 1LC tool boards and another mini5+ board.

That combination should allow for 6+7+5=18 axis drivers - z8, x4, y4 = 16 so should be enough for now - with the option to go up to 20 with another mini5 expansion.

Bad news is that my current mini5+ board is v1.02 - not sure what version E3D will send me for the 2nd board - their listing says 1.01 - so looks like some desoldering of terminator resistors on one of the boards is going to be required.