Posts made by nraynaud

Hi all, I am in the information phase for a 5 axes machine, and I was wondering what's the status around tool center management.

For people not in the know, the idea for a swinging spindle is that when we incline a tool, we need to raise the Z accordingly to keep the tool tip at the same position wrt. the part (and it gets worse from there, because feedrate and accelerations are computed at the tool tip). That means the Machine knows it own kinematics, and that there is a solid way to calibrate it: measure the distance between the various centers of rotation and tell the controller about it. It's like radius cutter comp, but on steroid and at tool center.

Do you know any open source controller that does that? is there interest in trying to add that to reprap?

Are there other keywords I should look for in google?

Thanks,

Nico.

edit: after looking a bit harder, I found out that linuxCNC seems to support this kind of things by heavy configuration: https://forum.linuxcnc.org/10-advanced-configuration/31813-tcp-5-axis-kinematics?start=120#139881 I leave the link here, in case a google wanderer flies by.

I put my software retraction parameter in my material file, was it wrong?

I configured 2 probes on my machine (K0 and K1), and I never see K1 value change with G31 K1 (and I see the corresponding LED change value on the board when I activate the switch by hand), but when I move it to K0, then G31 K0 does reflect the status of the probe.

here is a sequence of event (time flow bottom up):

<---- release ystop
18:07:24G31 K0
Current reading 1000, threshold 500, trigger height 0.700, offsets X0.0 Y0.0
<---- activate ystop by hand
18:07:16G31 K0
Current reading 0, threshold 500, trigger height 0.700, offsets X0.0 Y0.0
18:07:04M558 K1
Z Probe 1: type 0, invert no, dive height 5.0mm, probe speed 120mm/min, travel speed 6000mm/min, recovery time 0.00 sec, heaters normal, max taps 1, max diff 0.03
18:07:00M558 K0
Z Probe 0: type 5, input pin !ystop, output pin nil, invert no, dive height 5.0mm, probe speed 10000mm/min, travel speed 6000mm/min, recovery time 0.00 sec, heaters normal, max taps 1, max diff 0.03
18:06:55M558 K0 P5 C"!ystop" F10000
18:06:39M558 K1 P0 C"nil"
<---- release ystop
18:06:02G31 K1
Current reading 0, threshold 500, trigger height 0.700, offsets X0.0 Y0.0
<---- activate ystop by hand
18:05:49G31 K1
Current reading 0, threshold 500, trigger height 0.700, offsets X0.0 Y0.0
18:05:36M558 K1
Z Probe 1: type 5, input pin !ystop, output pin nil, invert no, dive height 5.0mm, probe speed 10000mm/min, travel speed 6000mm/min, recovery time 0.00 sec, heaters normal, max taps 1, max diff 0.03
18:05:30M558 K0
Z Probe 0: type 5, input pin !e1stop, output pin nil, invert no, dive height 3.0mm, probe speed 400mm/min, travel speed 6000mm/min, recovery time 0.00 sec, heaters normal, max taps 5, max diff 0.03
18:05:14M558 K1 P5 C"!ystop" F10000
18:04:59M574 S1 Y0 C"nil"

some version strings:

Firmware Name:	RepRapFirmware for Duet 2 WiFi/Ethernet
Firmware Electronics:	Duet WiFi 1.02 or later + DueX5
Firmware Version:	3.0 (2020-01-03b3)
WiFi Server Version:	1.23
Web Interface Version:	1.22.6

I found it! Thanks for your help.

I need more time or more distance to back out of the switches after the coarse homing (what's weird is that I had the same issue in X and Y). That's why I couldn't find the issue line by line.

have you de-bounced the switches or changed the execution order?

In my limited testing (the software side of this project feels like being a ball at a rugby game, everything is just hard, I don't know what conclusion actually hold), homing without G53 was placing the tool center at the switch trigger point instead of placing the machine zero there.

I will look into the relative movements, I need to find the original example files, thanks.

; homey.g
; called to home the Y axis
;
; generated by RepRapFirmware Configuration Tool on Wed Nov 15 2017 23:36:04 GMT-0700 (MST)

; Lift Z relative to current position
G91
G1 Z2 F6000
G90

; M98 P"outdanger.g"

; Move quickly to Y axis endstop and stop there (first pass)
G53 G1 Y-415 F10000 H1

; Go back a few mm
G53 G1 Y3 F40000

; Move slowly to Y axis endstop once more (second pass)
G53 G1 Y-415 F360 H1

G53 G1 Y2 F10000

; Lower Z again
G91
G1 Z-2 F6000
G90

it has moved and done the coarse homing right before that.

executing it line by line seems to work ok:

22:48:41G90
22:48:35G1 Z-2 F6000
22:48:28G91
22:48:22G53 G1 Y2 F10000
22:48:16G53 G1 Y-415 F360 H1
22:48:05G53 G1 Y3 F40000
22:47:56G53 G1 Y-415 F10000 H1
22:47:47G90
22:47:40G1 Z2 F6000
22:47:32G91
22:47:31Connection established!

I really don't know. running `M98 P"homey.g"' triggers the issue too.

edit: I get the bug both with and without the pullup, but I don't see any influence of this setting the web interface anyways (the switch works perfectly in my tests in the web interface)

yes.

I don't have a reboot in my configuration, but I still have a weird hang during homing.

is there a way to dump the state of the machine? I feel like it's waiting for something.

here is a log during homing:

21:59:09M122
=== Diagnostics ===
RepRapFirmware for Duet 2 WiFi/Ethernet version 3.0RC2 running on Duet WiFi 1.02 or later + DueX5
Board ID: 08DDM-9FAM2-LW4SD-6JKD4-3S46L-92X3W
Used output buffers: 10 of 24 (16 max)
=== RTOS ===
Static ram: 30516
Dynamic ram: 93164 of which 12 recycled
Exception stack ram used: 488
Never used ram: 6892
Tasks: NETWORK(ready,640) HEAT(blocked,1184) DUEX(suspended,160) MAIN(running,3676) IDLE(ready,156)
Owned mutexes:
=== Platform ===
Last reset 00:27:43 ago, cause: software
Last software reset at 2019-12-29 21:31, reason: User, spinning module GCodes, available RAM 6788 bytes (slot 0)
Software reset code 0x0003 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x0441f000 BFAR 0xe000ed38 SP 0xffffffff Task 0x4e49414d
Error status: 0
Free file entries: 9
SD card 0 detected, interface speed: 20.0MBytes/sec
SD card longest block write time: 0.0ms, max retries 0
MCU temperature: min 33.9, current 35.2, max 35.7
Supply voltage: min 24.0, current 24.1, max 24.3, under voltage events: 0, over voltage events: 0, power good: yes
Driver 0: standstill, SG min/max 359/1023
Driver 1: standstill, SG min/max 344/1023
Driver 2: standstill, SG min/max not available
Driver 3: standstill, SG min/max 56/1023
Driver 4: standstill, SG min/max 0/196
Driver 5: standstill, SG min/max not available
Driver 6: standstill, SG min/max not available
Driver 7: standstill, SG min/max not available
Driver 8: standstill, SG min/max not available
Driver 9: standstill, SG min/max not available
Date/time: 2019-12-29 21:59:08
Cache data hit count 4294967295
Slowest loop: 8.01ms; fastest: 0.09ms
I2C nak errors 0, send timeouts 0, receive timeouts 0, finishTimeouts 0, resets 0
=== Move ===
Hiccups: 0(0), FreeDm: 169, MinFreeDm: 165, MaxWait: 1652015ms
Bed compensation in use: none, comp offset 0.000
=== MainDDARing ===
Scheduled moves: 8, completed moves: 3, StepErrors: 0, LaErrors: 0, Underruns: 0, 0
=== AuxDDARing ===
Scheduled moves: 0, completed moves: 0, StepErrors: 0, LaErrors: 0, Underruns: 0, 0
=== Heat ===
Bed heaters = 0 -1 -1 -1, chamberHeaters = -1 -1 -1 -1
=== GCodes ===
Segments left: 1
Stack records: 2 allocated, 1 in use
Movement lock held by http
http is doing "G53 G1 Y-415 F360 H1" in state(s) 0 8, running macro
telnet is idle in state(s) 0
file is idle in state(s) 0
serial is idle in state(s) 0
aux is idle in state(s) 0
daemon is idle in state(s) 0
queue is idle in state(s) 0
autopause is idle in state(s) 0
Code queue is empty.
=== Network ===
Slowest loop: 15.86ms; fastest: 0.00ms
Responder states: HTTP(0) HTTP(0) HTTP(0) HTTP(0) FTP(0) Telnet(0)
HTTP sessions: 1 of 8
- WiFi -
Network state is running
WiFi module is connected to access point
Failed messages: pending 0, notready 0, noresp 0
WiFi firmware version 1.23
WiFi MAC address 60:01:94:34:3b:19
WiFi Vcc 3.37, reset reason Turned on by main processor
WiFi flash size 4194304, free heap 19376
WiFi IP address 192.168.0.28
WiFi signal strength -57dBm, reconnections 0, sleep mode modem
Socket states: 0 0 0 0 0 0 0 0
21:58:58G28 Y

I may have been chasing a red herring:

M552 S0 ; awaken wifi module and set to idle
M587 S"NUMERICABLE-B290" P"PASS" ; send this line to be saved in wifi module
M552 S1 ; connect the wifi module to the network

of course, those lines looks like a reboot.

thanks for your help, I'll start right now.

@Phaedrux I am using the old page at /reprap.htm# it's more confortable and shows more things for diagnostics.

@dc42 actually after commenting M558 and G31 I still get the reboot:

19:32:11M122
=== Diagnostics ===
RepRapFirmware for Duet 2 WiFi/Ethernet version 3.0RC2 running on Duet WiFi 1.02 or later + DueX5
Board ID: 08DDM-9FAM2-LW4SD-6JKD4-3S46L-92X3W
Used output buffers: 1 of 24 (17 max)
=== RTOS ===
Static ram: 30516
Dynamic ram: 93164 of which 44 recycled
Exception stack ram used: 256
Never used ram: 7092
Tasks: NETWORK(ready,640) HEAT(blocked,1240) DUEX(suspended,160) MAIN(running,3676) IDLE(ready,156)
Owned mutexes:
=== Platform ===
Last reset 00:00:46 ago, cause: software
Last software reset at 2019-12-29 19:31, reason: User, spinning module GCodes, available RAM 7432 bytes (slot 0)
Software reset code 0x0003 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x0441f000 BFAR 0xe000ed38 SP 0xffffffff Task 0x4e49414d
Error status: 0
Free file entries: 10
SD card 0 detected, interface speed: 20.0MBytes/sec
SD card longest block write time: 0.0ms, max retries 0
MCU temperature: min 34.3, current 35.7, max 36.2
Supply voltage: min 24.0, current 24.1, max 24.3, under voltage events: 0, over voltage events: 0, power good: yes
Driver 0: standstill, SG min/max not available
Driver 1: standstill, SG min/max not available
Driver 2: standstill, SG min/max not available
Driver 3: standstill, SG min/max not available
Driver 4: standstill, SG min/max not available
Driver 5: standstill, SG min/max not available
Driver 6: standstill, SG min/max not available
Driver 7: standstill, SG min/max not available
Driver 8: standstill, SG min/max not available
Driver 9: standstill, SG min/max not available
Date/time: 2019-12-29 19:32:09
Cache data hit count 105424755
Slowest loop: 128.25ms; fastest: 0.09ms
I2C nak errors 0, send timeouts 0, receive timeouts 0, finishTimeouts 0, resets 0
=== Move ===
Hiccups: 0(0), FreeDm: 169, MinFreeDm: 169, MaxWait: 0ms
Bed compensation in use: none, comp offset 0.000
=== MainDDARing ===
Scheduled moves: 0, completed moves: 0, StepErrors: 0, LaErrors: 0, Underruns: 0, 0
=== AuxDDARing ===
Scheduled moves: 0, completed moves: 0, StepErrors: 0, LaErrors: 0, Underruns: 0, 0
=== Heat ===
Bed heaters = 0 -1 -1 -1, chamberHeaters = -1 -1 -1 -1
=== GCodes ===
Segments left: 0
Stack records: 2 allocated, 0 in use
Movement lock held by null
http is idle in state(s) 0
telnet is idle in state(s) 0
file is idle in state(s) 0
serial is idle in state(s) 0
aux is idle in state(s) 0
daemon is idle in state(s) 0
queue is idle in state(s) 0
autopause is idle in state(s) 0
Code queue is empty.
=== Network ===
Slowest loop: 116.61ms; fastest: 0.00ms
Responder states: HTTP(0) HTTP(0) HTTP(0) HTTP(0) FTP(0) Telnet(0)
HTTP sessions: 1 of 8
- WiFi -
Network state is running
WiFi module is connected to access point
Failed messages: pending 0, notready 0, noresp 0
WiFi firmware version 1.23
WiFi MAC address 60:01:94:34:3b:19
WiFi Vcc 3.37, reset reason Turned on by main processor
WiFi flash size 4194304, free heap 24608
WiFi IP address 192.168.0.28
WiFi signal strength -60dBm, reconnections 0, sleep mode modem
Socket states: 0 0 0 0 0 0 0 0
19:32:06Connection established!
19:32:05Disconnected.
19:31:41Connection established!
19:31:41Page Load complete!

I deny that this reboot was directly asked by me, I don't see any reboot command in my files, and it is the result of the M98 P"config.g"

@dc42 said in RepRapFirmware 3.0RC2 now available:

M122

I see the software got afraid of the boss, here is my log now (I don't think I changed anything, probably a race condition):

19:24:18M122
=== Diagnostics ===
RepRapFirmware for Duet 2 WiFi/Ethernet version 3.0RC2 running on Duet WiFi 1.02 or later + DueX5
Board ID: 08DDM-9FAM2-LW4SD-6JKD4-3S46L-92X3W
Used output buffers: 3 of 24 (16 max)
=== RTOS ===
Static ram: 30516
Dynamic ram: 93164 of which 44 recycled
Exception stack ram used: 256
Never used ram: 7092
Tasks: NETWORK(ready,640) HEAT(blocked,1240) DUEX(suspended,160) MAIN(running,3668) IDLE(ready,156)
Owned mutexes:
=== Platform ===
Last reset 00:08:29 ago, cause: software
Last software reset at 2019-12-29 19:15, reason: User, spinning module GCodes, available RAM 7100 bytes (slot 1)
Software reset code 0x0003 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x0041f000 BFAR 0xe000ed38 SP 0xffffffff Task 0x4e49414d
Error status: 0
Free file entries: 10
SD card 0 detected, interface speed: 20.0MBytes/sec
SD card longest block write time: 0.0ms, max retries 0
MCU temperature: min 35.1, current 35.4, max 36.0
Supply voltage: min 24.0, current 24.1, max 24.3, under voltage events: 0, over voltage events: 0, power good: yes
Driver 0: standstill, SG min/max not available
Driver 1: standstill, SG min/max not available
Driver 2: standstill, SG min/max not available
Driver 3: standstill, SG min/max not available
Driver 4: standstill, SG min/max not available
Driver 5: standstill, SG min/max not available
Driver 6: standstill, SG min/max not available
Driver 7: standstill, SG min/max not available
Driver 8: standstill, SG min/max not available
Driver 9: standstill, SG min/max not available
Date/time: 2019-12-29 19:24:16
Cache data hit count 1397321660
Slowest loop: 128.51ms; fastest: 0.10ms
I2C nak errors 0, send timeouts 0, receive timeouts 0, finishTimeouts 0, resets 0
=== Move ===
Hiccups: 0(0), FreeDm: 169, MinFreeDm: 169, MaxWait: 0ms
Bed compensation in use: none, comp offset 0.000
=== MainDDARing ===
Scheduled moves: 0, completed moves: 0, StepErrors: 0, LaErrors: 0, Underruns: 0, 0
=== AuxDDARing ===
Scheduled moves: 0, completed moves: 0, StepErrors: 0, LaErrors: 0, Underruns: 0, 0
=== Heat ===
Bed heaters = 0 -1 -1 -1, chamberHeaters = -1 -1 -1 -1
=== GCodes ===
Segments left: 0
Stack records: 2 allocated, 0 in use
Movement lock held by null
http is idle in state(s) 0
telnet is idle in state(s) 0
file is idle in state(s) 0
serial is idle in state(s) 0
aux is idle in state(s) 0
daemon is idle in state(s) 0
queue is idle in state(s) 0
autopause is idle in state(s) 0
Code queue is empty.
=== Network ===
Slowest loop: 200.23ms; fastest: 0.00ms
Responder states: HTTP(0) HTTP(0) HTTP(0) HTTP(0) FTP(0) Telnet(0)
HTTP sessions: 1 of 8
- WiFi -
Network state is running
WiFi module is connected to access point
Failed messages: pending 0, notready 0, noresp 1
WiFi firmware version 1.23
WiFi MAC address 60:01:94:34:3b:19
WiFi Vcc 3.37, reset reason Turned on by main processor
WiFi flash size 4194304, free heap 24312
WiFi IP address 192.168.0.28
WiFi signal strength -59dBm, reconnections 0, sleep mode modem
Socket states: 0 0 0 0 0 0 0 0
19:22:24Connection established!
19:22:23Disconnected.
19:22:15M98 P"config.g"
Error: M558: Missing Z probe pin name(s)
Error: G31: Invalid Z probe index

all of a sudden it spits the error message. I'll look at the documentation, the error was probably here before.

Thanks.

Thanks for your help.

1. ouch, that reboots the duet, I probably did something very bad.
   here is my log after a few tries:

18:28:44: Connection established!
18:28:43: Disconnected.
18:24:52: Connection established!
18:24:51: Disconnected.
18:24:38: Connection established!
18:24:35: Disconnected.

I don't even get the acknowlegement of the M98 in the logs
here is my config.g:

; Configuration file for Duet WiFi (firmware version 1.17 to 1.19)
; executed by the firmware on start-up
;
; customized by hand

M80

; General preferences
M111 S0 ; Debugging
G21 ; Work in millimetres
G90 ; Send absolute coordinates...
M83 ; ...but relative extruder moves
M555 P2 ; Set firmware compatibility to look like Marlin
M669 K1 ; switch to CoreXY mode

M98 P"configmotors.g"

; PROBE
M558 P5 I1 H3 F400 T2000 A5 ; Set Z probe type to switch, the axes for which it is used and the dive height + speeds
G31 P600 X-35 Y-10 Z0.40 ; Set Z probe trigger value, offset and trigger height
M557 X20:380 Y20:380 S20; Define mesh grid

; speed planning
M566 X100 Y100 Z100 E300 W300; Set maximum instantaneous speed changes (mm/min)
M201 X4000 Y2500 Z1500 E2000 W1000 ; Set per axis accelerations (mm/s^2)
M204 P4000 T12000 ; Set global accelerations (mm/s^2)
M203 X35000 Y35000 Z10000 W5000 E10000 ; Set maximum speeds (mm/min)

; Heaters
;   BED
M308 S0 P"bedtemp" Y"thermistor" T100000 B3950 ; configure bed thermistor
M950 H0 C"bedheat" T0 ; configure bed heater
M143 H0 S120 ; Set temperature limit for heater 0 to 120C
;   HEATER 1
M308 S1 P"e0temp" Y"thermistor" T100000 B4388 C7.06e-8 ; define tool0 temperature sensor
M950 H1 C"e0heat" T1 ; heater 1 uses the e0_heat pin and sensor 1
M143 H1 S280 ; Set temperature limit for tool0 to 280C
;   HEATER 2
M308 S2 P"duex.e5temp" Y"thermistor" T100000 B4388 C7.06e-8 ; define tool1 temperature sensor
M950 H2 C"duex.e5heat" T2 ; tool1 heater
M143 H2 S280 ; Set temperature limit for tool1 to 280C

; Fans
M950 F1 C"duex.fan7"; fan1 is tool0 cooling
M950 F2 C"fan1"; fan2 is tool1 part cooling
M950 F3 C"duex.fan5"; fan3 is tool1 cooling


; Tool 0
M563 P0 D0 H1 S"T0 (0.6mm)"; Define tool1
G10 P0 L1 X0 Y0 Z-1.4 ; Set tool 0 axis offsets
G10 P0 R0 S0 ; Set initial tool 0 active and standby temperatures to 0C
M106 P1 S0 T70:120 H1 L120 ; Set fan
; M572 D0 S0.4 ; pressure advance
; M591 D0  P2 C9 S1; filament sensor
; M591 D0 P7 C"e1_stop" S1 L1.76 A1 E34 R70:200 ; encoder sensor
;***

; Tool 1
M563 P1 D1 H2 F2 S"T1 (0.4mm)"; Define tool1
G10 P1 L1 X-2.5 Y2.5 Z-1.4 ; Set tool 1 offsets
G10 P1 R0 S0 ; Set initial tool 1 active and standby temperatures to 0C
M106 P3 S0 T70:120 H2; Set tool cooling fan
; M572 D1 S0.2 ; pressure advance
;***

; Tool 2
M563 P2 S"T2 (empty)"; Define tool2
;***

; Network
M550 Panycubic ; Set machine name

M552 S0 ; awaken wifi module and set to idle
; <snip>
M552 S1 ; connect the wifi module to the network
M586 P0 S1 ; Enable HTTP
M586 P1 S0 ; Disable FTP
M586 P2 S0 ; Disable Telnet


; Custom settings are not configured

M564 H0 ; allow movement of un homed axes
M207 S3.0 R0.3 F60 T200 

; Miscellaneous
M501 ; read saved config (PID coefficients)
G0 F40000 ; set travel speed

here is configmotors.g:

M584 X0 Y1 Z3:4 E9:8 W5

M208 S1 X0 Y0 Z0 W0  ; Set axis minima
M208 S0 X415 Y340 Z295 W1000 ; Set axis maxima

; Endstops
M574 S1 X1 P"!^xstop"
M574 S1 Y1 P"!^ystop"
M574 S1 Z1 P"!^zstop+!^e0stop" 
M574 S1 W1 P"!duex.e2stop"

; Drives
M569 P0 S1 ; Drive 0 goes forwards
M569 P1 S1 ; Drive 1 goes forwards
M569 P2 S1 ; Drive 2 goes forwards
M569 P3 S0 ; Drive 3 goes backwards
M569 P4 S1 ; Drive 4 goes forwards
M569 P5 S1 ; Drive 5 direction
M569 P6 S1 ; Drive 5 direction

M350 X16 Y16 Z16:16 E16:16 I1 S3; Configure microstepping with interpolation
M350 W16 I1 S3; micro-stepping
M92 X320 Y320 Z1600:1600 S64 ; Set steps per mm
M92 E100:100 S4;
M92 W10 S1;
M906 X1000 Y1000 Z800 E800:800 I50 ; Set motor currents (mA) and motor idle factor in per cent
M906 W1000 I50; current
M84 S10 ; Set idle timeout

M915 XY S10 F1 R2 ; stall detection

here are a few version strings:

Firmware Name:	RepRapFirmware for Duet 2 WiFi/Ethernet
Firmware Electronics:	Duet WiFi 1.02 or later + DueX5
Firmware Version:	3.0RC2 (2019-12-29b1)
WiFi Server Version:	1.23
Web Interface Version:	1.22.6

2. in the web interface the Y switch status display changes in sync with me pushing on it manually, it looks fine.

3. My homing is in G53 because my home switch senses the tool holder not the tool tip, and every tool has a different offset ( https://www.thingiverse.com/thing:4010872 some mechanical context here ). I felt like I was skipping steps so I re-home after every tool change, but I see in the RC2 release notes that there was a bug of position after tool changes, so it might be something else.

Thanks for your help.

Hi, thanks for your work,

I seem to have an issue with this RC that I didn't have with beta12 (I skipped RC1).

The issue is that the homing of Y is blocking :

; homey.g
; called to home the Y axis
;
; generated by RepRapFirmware Configuration Tool on Wed Nov 15 2017 23:36:04 GMT-0700 (MST)

; Lift Z relative to current position
G91
G1 Z2 F6000
G90

M117 Z hop

; M98 P"outdanger.g"

M117 after outdanger 
; Move quickly to Y axis endstop and stop there (first pass)
G53 G1 Y-415 F10000 H1                                    ;     <---@@@@@@@@@@@@@@@ BLOCKS HERE

M117 coarse endstop

; Go back a few mm
G91
G1 Y3 F6000
G90

; Move slowly to Y axis endstop once more (second pass)
G53 G1 Y-415 F360 H1

G53 G1 Y2 F10000

; Lower Z again
G91
G1 Z-2 F6000
G90

the web interface shows 'Idle' but subsequent commands don't seem to execute, upon editing, homey.g fails to save because it's locked.

Clicking the endstop manually doesn't unlock the situation.

I would like to activate some logs to help with diagnostics, could you guide me on using M111 please?

here is my endstop configuration (had to change it to satisfy the disparition of S0 in M574) :

M584 X0 Y1 Z3:4 E9:8 W5

M208 S1 X0 Y0 Z0 W0  ; Set axis minima
M208 S0 X415 Y340 Z295 W1000 ; Set axis maxima

; Endstops
M574 S1 X1 P"!^xstop"
M574 S1 Y1 P"!^ystop"
M574 S1 Z1 P"!^zstop+!^e0stop" 
M574 S1 W1 P"!duex.e2stop"

; Drives
M569 P0 S1 ; Drive 0 goes forwards
M569 P1 S1 ; Drive 1 goes forwards
M569 P2 S1 ; Drive 2 goes forwards
M569 P3 S0 ; Drive 3 goes backwards
M569 P4 S1 ; Drive 4 goes forwards
M569 P5 S1 ; Drive 5 direction
M569 P6 S1 ; Drive 5 direction

M350 X16 Y16 Z16:16 E16:16 I1 S3; Configure microstepping with interpolation
M350 W16 I1 S3; micro-stepping
M92 X320 Y320 Z1600:1600 S64 ; Set steps per mm
M92 E100:100 S4;
M92 W10 S1;
M906 X1000 Y1000 Z800 E800:800 I50 ; Set motor currents (mA) and motor idle factor in per cent
M906 W1000 I50; current
M84 S10 ; Set idle timeout

M915 XY S10 F1 R2 ; stall detection

thanks, I have not encountered any other missing parameter.

the way it's set up for now is that the dock positions are in files like
t0.g:

G53 G0 X212.5 Y0 W1 ; open dock

but in tfree0.g I have to put some code before and after:

M98 P"t/beforefreeall.g" ; <-- lift Z, retract, increase steppers current, move Y limt, etc.
G0 F40000
M98 P"t0.g" ; <- go in front of the dock
M98 P"t/freeall.g" ; <- close the dock, go to contact, move back to the safe zone

if I could use a G59 ignoring tool offset, I would do something like that:
t0.g:

G10 L2 P9 X212.5 Y0 W1 ; open dock

and tfree0.g:

M98 P"t0.g"  ; <- define G59.3
M98 P"t/freeall.g" ;  <-- do everything in one file, Including moving to the origin when I feel it's the right time

the other interesting thing, is that I could also define the Y of the dock which could compensate for racking in the Y axis or inconsistencies in the dock manufacturing.

and then freeall.g could become freeorgetall.g because there is little difference between get or free in my system (just the W axis position and the filament retract/extrude I think).

I have significantly reduced the tool changing forces by using this wonderful and clever invention: grease. I should use it more on my moving parts.

I have had very good positional repetition and no stalling since.

I am posting a picture because I really needed a lucky break on this project.

my 1000 feet view it to wire them to a M999 script, because the capacitors in the DC power supplies pack a lot of puch and they really don't stop quickly.

I cobbled something together, I don't know how far it will go:
outdanger.g:

M574 Y0 C"nil"
M558 K0 P5 C"ystop" F10000 H0 I1
G38.5 Y100 P0
M558 K0 P0 C"nil"
M574 Y1 S0 P"!ystop"

it occurred to me that the endstops are useless most of the time anyways since there are no guarded move, I might even plug them to the emergency stop in normal situation and back to endstops during homing.

I intended to redefine the G59.3 position before every tool operation.

do you have an equivalent of the first link for RFF3?