Hello David,

My simplified kinematics
http://www.openhardware.eu/tmp/scara-kinematics.png

With M564 S0 G1 the red area is not accessible.
G1 The orange area does not make straight lines.
G1 only the green area is normally accessible with M564 S0...

I have 1/3 of the surface of the bed that is not accessible ...

if I do the same thing with version 1.21RC3
I move well in a straight line ...
I just tested

I have about an area of X60 Y300 that does not seem usable with the new firmware
While nothing can stop you from reaching this area ...

after M564 S0
if I move in G1 X100
and that after I made a G1 Y300 there I have a straight line with the new firmware

I read again tomorrow, not having understood everything ...

Example M564 S0 then G1 X60 then I made a G1 Y300, it does not make a straight line, in the center it makes a curve ...

Tests...
Unlock
M564 S0

G1 Y300
ok

g1 x10
ok

g1 x0
ok

G1 Y0
Error: G1/G2/G3: intermediate position outside machine limits

rehoming
g28
ok

g1 x300
ok

g1 x100
ok

g1 x30
ok

g1 x20
no error but not move ...
Apparently impossible to move X below 30?

humm ... I can not do anything good (humm google translate sorry ...)
G0 X0 the arm went upside down and blew the belt
I repair the mechanics: p

Files are just on post from above:
https://forum.duet3d.com/topic/8155/firmware-2-02rc6-released/17

Files:
config.g http://dl.free.fr/j7UVd31UF
homeall.g http://dl.free.fr/usibxoSpf (hominig error on "G1 Z10 F250" if i remove no errors)

HiDavid,

if I execute this macro file:

G28
G91
G1 S2 Y1.0 F2500
G90 ;Absolute Positioning
G1 Y10 F2500

Return:
M98 P"0:/macros/test" Error: G1/G2/G3: intermediate position outside machine limits

homing ok, movements in S2 ok,
but the command G1 is not executed
and after more nothing answers
no more absolute or relative displacements ? ...

if I run a G28 I can move again in relative movements
but not in absolute movements ...

Hi David,

Very strange behavior if I use G1 S2 after homing ...

Example with G1 S2 X1.0 F2000
the arm moves to X: -19.66 Y: 279.36 (while the homing position is X: 30.84 Y: 51.59)

After I send:
G1 X10 F2500

Do not move and forward error:
G1 X10 F2500
Error: G1 / G2 / G3: Intermediate position outside machine limits

The Homing position is inside the bed, (Homing: X: 30.84 Y: 51.59)
the problem would not be there?

Hi David,
yes same problem,

now homing is ok
G28 no longer returns errors

But move absolute return error ...

Test Firmware Version: 2.02RC7(RTOS) (2018-12-22b2):

G28
G90 ;Absolute Positioning
G1 X0 F2500

Return error: 15:40:30 M98 P"0:/macros/test" Error: G1/G2/G3: intermediate position outside machine limits Error: G1/G2/G3: intermediate position outside machine limits

all movements in absolute mode return an error x/y/z...

My config and homing files:
config.g http://dl.free.fr/j7UVd31UF
homeall.g http://dl.free.fr/usibxoSpf (hominig error on "G1 Z10 F250" if i remove no errors)

Reminder everything works perfectly with 1.21RC3

Hi David,

Same problem for me with 2-02rc6 on my Scara
https://forum.duet3d.com/topic/8155/firmware-2-02rc6-released/5