Hello dc42,

at the moment i have problems setting up mesh bed-compensation on my rotary delta.
I use a bed which is 300x300.
I defined the config.g as follows:

; Z-Probe
M558 P9 C"^zprobe.in" H5 F120 T3000 ; BLTouch connected to Z probe IN pin
M950 S0 C"exp.heater7" ; create servo/gpio 0 on heater 3 pin on expansion connector
M280 P0 S90 ; send control signal to BLTouch through servo/gpio 0
G31 X-20.7 Y3.8 Z7.0 P25 ; Z probe trigger value, offset in relation to nozzle. And trigger height adjustment
M557 X-140:140 Y-140:140 S20 ; define mesh grid

My Problem is, after the first Probe the machine does a strange movment to higher the Z Position. It looks like there is no kinematic-transform to lift Z up..
Could this make sense? Would it be possible to use kinematic-transform here?

best regards

First of all thank you for all of your help.
Finally I found my problem what is causing the webserver to stop working when y-axis is moved by firmware or manually pushed.. :D.

The wires of the Y-Axis Stepper where to close to my Ethernet-Cable.
Worked perfectly for 2 years until now..

electro magnetic disorder

Hello,

I am currently using a rotary delta machine with a different firmware and board.
I want to use this machine with the RRF to take advantage of its benefits like the stepper drivers
and web interface.

will there be the possibility someday to use a rotary delta with RRF?

Thanks a lot!

@dc42 After the G30 i did via Webcontrol button Y+5 5mm in Y-Direction. The Effector is moving in Y and Z direction. Could this matter?

https://youtu.be/W4afA7cdHNI

Testing it with 3.3 beta gives the same Result

@egris said in rotary delta kinematics:

a

Hello dc42,

i added the kinematics to the RRF.
It works really well on my rotary delta.
I can provide you the code if you are interested in.

@dc42 1. Are you saying that when the machine has been calibrated manually so that good prints are possible, the Z-lift moves during mesh bed probing are not vertical?

Yes thats true. In the Center of the Bed the Z-Lifts are "more" vertical than they are getting to the edges of the bed.

If i set my grid-probing to X-145:145 Y-145:145 the first Probe is at X-145 Y-145. Everything works fine until the Z-Lift. When Z is lifted the head moves to abaout X-145 Y145 in a not coordinated move. When it arrives there the head will move to the next grid point at X-125Y-145. On that 2 moves it crashed the nozzle into the bed

Did a first Print after setting up autocalibration, mesh bed compensation and preasure advance..
I´m quiet happy with the result.

Thx again for looking into it

picture of the print

Tested fw 3.3 beta 2 on my rotary delta. Has there been a change to Segments per second for this kinematic? X/Y G1 moves look like there is a very low segments per second value usesd for straight lines.

With the older 3.3 version its working fine

Did a first Print after setting up autocalibration, mesh bed compensation and preasure advance..
I´m quiet happy with the result.

Thx again for looking into it

picture of the print

@dc42 hello dc42, currently i think the calibration code works! I played again with the radius in which it probes the points and now it looks quiet good . I have one question.
Im using the fw 3.3 and when i do a mesh calibration the header of the hightmapfile is as follows..

axis0,axis1,min0,max0,min1,max1,radius,spacing0,spacing1,num0,num1
X,Y,-140.00,140.00,-140.00,140.00,-1.00,20.00,20.00,15,15
0.115, 0.139, 0.118, 0.101, 0.075, ....

When i want to check the graph on the webinterface it says invalid hightmap..

when i change the header to

xmin,xmax,ymin,ymax,radius,xspacing,yspacing,xnum,ynum
-140.00,140.00,-140.00,140.00,-1.00,20.00,20.00,15,15
0.115, 0.139, 0.118, 0.101, 0.075, ....

It shows me the graph output.

Which format will the firmware need to do the compensation correctly?

@dc42 after several calibrations the values will stop at a certain level and are adjusted each cycle a little bit higer / lower. After the calibration i moved the head to a bit above Z0 and moved in X direction. I noticed a bowlshape movment. So i adjusted the rod lenght manually, did another calibration cycles and now i have quiet a steady linear movment above the bed

Then i did a G29 Mesh calibration..
225 points probed, min error -0.188, max error 0.428, mean 0.017, deviation 0.094

When i want to look at the graph it says Invalid Height Map. Im not sure why this will happen. The File is saved to the sd card

heightmap.csv

@dc42 did a Autocalibration. Result is as follows:

M669
Kinematics is rotary delta, arms (190.000,190.00,190.000)mm, rods (393.500,393.500,393.500)mm, bearingHeights (422.008,422.01,422.008)mm, arm movement -90.0 to 46.5°, delta radius 45.480, bed radius 212.1, angle corrections (59.839,59.430,60.000)°

M666
Endstop adjustments X-0.82 Y-1.04 Z-1.47°

Start Values:
;M669 K10 U190.0 L393.5 R45 A-90.0:46.50 H418.8 X60, Y60, Z60 B212.132 (59.839,59.430,60.000)
;M666 X0.0 Y0.0 Z-0.28

@dc42 thanks alot for your support. Bed probing is working now . I will try the autocalibration function and write a feedback how it works.

i can do that test probably tomorrow. I think i damaged my Z_Probe_In Pin by the 5V Signal of the BLtouch. My Duet2 probably was older than the revision that can handle 5V on that Pin. . Is there a possibly to use another analog pin for my Z-Probe? I orderd a spare one

@dc42 said in rotary delta + mesh compensation | Strange Z-Lift:

Move the nozzle to a point off-centre e.g. X0 Y50 Z10. Then command the nozzle up (e.g. to Z50) and check that the movement is vertical. Next, command the nozzle to X0 Y50 Z10 again, but after that send G91 Y50 Z10 (i.e. tell the machine where it is at, giving it the same coordinates that it thinks it is at). Then command the nozzle up to Z50 again and see if the movement is still vertical.

tested it and it works like it should. Z-Movment is vertical

@dc42 1. Are you saying that when the machine has been calibrated manually so that good prints are possible, the Z-lift moves during mesh bed probing are not vertical?

Yes thats true. In the Center of the Bed the Z-Lifts are "more" vertical than they are getting to the edges of the bed.

If i set my grid-probing to X-145:145 Y-145:145 the first Probe is at X-145 Y-145. Everything works fine until the Z-Lift. When Z is lifted the head moves to abaout X-145 Y145 in a not coordinated move. When it arrives there the head will move to the next grid point at X-125Y-145. On that 2 moves it crashed the nozzle into the bed

i looked into the Statemachine for bed-probing in Gcodes 4 but couldn find any hint.
before the Z-Lift there is called the Function SetMoveBufferDefaults(). Could there be somthing reset?