@jay_s_uk maybe you find some solution there: https://duet3d.dozuki.com/Wiki/Gcode#Section_M556_Axis_skew_compensation

@jay_s_uk i's not a 3D-Printer but a Duet controlled machine. I can't go int details.

The kinematic is configured as followed:

M669
Kinematics is Cartesian, no segmentation, matrix:
1.00 0 0 0
0 1.00 0 0
0 0 1.00 0
0 0 0 1.00

@T3P3Tony thanks for your reply. I will test it like you mentioned and report the result in a few days.

So i tested it with this configration, and now it works like it should:

M584 X0.0 E0.3:0.4							; set drive mapping linear axes 
M584 A0.1 B0.2 C0.5 S1							; set drive mapping rotational axes
M350 X16 A16 B16 C16 E16:16 I1                           		; configure microstepping with interpolation
M92 X36.2 A28.5 B28.5 C15.0 E400.00:400.00				; set steps per mm
M566 X500.00 A500.00 B500.00 C500.00 E1200.00:1200.00      		; set maximum instantaneous speed changes (mm/min)
M203 X20000.00 A20000.00 B20000.00 C20000.00 E1200.00:1200.00		; set maximum speeds (mm/min)
M201 X2000.00 A2000.00 B2000.00 C2000.00 E2500.00:2500.00      		; set accelerations (mm/s^2)
M906 X1000 A1000 B1000 C1000 E800:800 I30                		; set motor currents (mA) and motor idle factor in per cent
M84 S30                                                  		; Set idle timeout

My Gcode is "G91 G1 X500 A500 B500 C-500 F500" and the X-Axis moved 500mm in 1min.

@T3P3Tony Thank you very much for your help

@T3P3Tony i've tried the following:

first, reassign the Axes X,Y,Z to A,B,C. I tried with and without the "R" and "S" Parameter.

Then sended : G91 G1 A500 B500 F500 -> movment took 1min24sec to finish.

config.g

M584 A0.0 B0.1 C0.2 R1 S1 		; set drive mapping rotational axes
M584 U0.5 E0.3:0.4			; set drive mapping linear axes
M350 A16 B16 C16 U16 E16:16 I1                           ; configure microstepping with interpolation
M92 A36.2 B28.5 C28.5 U15.0 E400.00:400.00				 ; set steps per mm
M566 A500.00 B500.00 C500.00 U500.00 E1200.00:1200.00      ; set maximum instantaneous speed changes (mm/min)
M203 A20000.00 B20000.00 C20000.00 U20000.00 E1200.00:1200.00 ; set maximum speeds (mm/min)
M201 A2000.00 B2000.00 C2000.00 U2000.00 E2500.00:2500.00      ; set accelerations (mm/s^2)
M906 A1000 B1000 C1000 U1000 E800:800 I30                ; set motor currents (mA) and motor idle factor in per cent
M84 S30                                                  ; Set idle timeout

and i tried to set the X,Y,Z axes as rotational axes also with the "R" and "S" Parameter.

Then sended : G91 G1 X500 Y500 F500 -> movment took also1min24sec to finish.

M584 X0.0 Y0.1 Z0.2 R1 S1           ; set drive mapping rotational axes
M584 U0.5 E0.3:0.4                        ; set drive mapping
M350 X16 Y16 Z16 U16 E16:16 I1                           ; configure microstepping with interpolation
M92 X36.2 Y28.5 Z28.5 U15.0 E400.00:400.00				 ; set steps per mm
M566 X500.00 Y500.00 Z500.00 U500.00 E1200.00:1200.00      ; set maximum instantaneous speed changes (mm/min)
M203 X20000.00 Y20000.00 Z20000.00 U20000.00 E1200.00:1200.00 ; set maximum speeds (mm/min)
M201 X2000.00 Y2000.00 Z2000.00 U2000.00 E2500.00:2500.00      ; set accelerations (mm/s^2)
M906 X1000 Y1000 Z1000 U1000 E800:800 I30                ; set motor currents (mA) and motor idle factor in per cent
M84 S30                                                  ; Set idle timeout

Maybe i configured it wrong?

@T3P3Tony Ok, let's say the machine has two tasks to do. One is to move the X-Axis to 500mm with F500 mm/min. The second task is an interaction between the remaining axes.
So the effector movment is completly constrained on the X-Axis and is linear.

I want to input the G-Code "G91 G1 X500 Y500 Z500 U-500 F500". The result should be, that X-Axis moves 500mm per minute. And the remaining axes do their movements independently.

The importand thing is, that the movements of all axes should be done simultainiously and consistent.

@T3P3Tony ok i see. The problem is that with the M669 ist applied, the Gcode command will be transformed to the cartesian Kinematic moves.

• Is there a posibillity for the Duet to interpret the Gcode command for each axis indepandently?

• Or do i have to change the matrix in a specific way to get the result i want?

@jay_s_uk i's not a 3D-Printer but a Duet controlled machine. I can't go int details.

The kinematic is configured as followed:

M669
Kinematics is Cartesian, no segmentation, matrix:
1.00 0 0 0
0 1.00 0 0
0 0 1.00 0
0 0 0 1.00

Hi, i have issues to get the right feedrate when i run a multiaxis G-Code.

For example:

if i run a liner axis "X" with "G91 G1 X500 F500" then it moves 500mm in 1min. So as it should be.

if i run a liner axis "X" and "Y" with "G91 G1 X500 Y500 F500" then it moves 500mm in 1min 24sec.

if i run a liner axis "X", "Y" and "Z" with "G91 G1 X500 Y500 Z500 F500" then it moves 500mm in 1min 45sec.

if i run a liner axis "X","Y","Z" and "U" with "G91 G1 X500 Y500 Z500 U500 F500" then it moves 500mm in 2min.

So as i have different Steps/mm valus in config.g i also tried to set the steps/mm of X and Y the same.

For Example:
M92 X36.2 Y36.2
And then i sended the Gcode : "G91 G1 X500 Y500 F500" then it moves 500mm in 1min 24sec again. So no difference.

I also increased the max. speed of all axis in the config.g to make sure no axis will lack behind.

So here are the specs of the machine.

Board: Duet 3 MB6HC (MB6HC)
Firmware: RepRapFirmware for Duet 3 MB6HC 3.4.5 (2022-11-30)

; Drives
M569 P0.0 S0                                             ; physical drive 0.0 goes forwards
M569 P0.1 S0                                             ; physical drive 0.1 goes forwards
M569 P0.2 S1                                             ; physical drive 0.2 goes forwards
M569 P0.3 S1                                             ; physical drive 0.3 goes forwards
M569 P0.4 S1                                             ; physical drive 0.4 goes forwards
M569 P0.5 S1                                             ; physical drive 0.5 goes forwards
M584 X0.0 Y0.1 Z0.2 U0.5 E0.3:0.4                        ; set drive mapping
M350 X16 Y16 Z16 U16 E16:16 I1                           ; configure microstepping with interpolation
M92 X36.2 Y28.5 Z28.5 U15.0 E400.00:400.00				 ; set steps per mm
M566 X500.00 Y500.00 Z500.00 U500.00 E1200.00:1200.00      ; set maximum instantaneous speed changes (mm/min)
M203 X20000.00 Y20000.00 Z20000.00 U20000.00 E1200.00:1200.00 ; set maximum speeds (mm/min)
M201 X2000.00 Y2000.00 Z2000.00 U2000.00 E2500.00:2500.00      ; set accelerations (mm/s^2)
M906 X1000 Y1000 Z1000 U1000 E800:800 I30                ; set motor currents (mA) and motor idle factor in per cent
M84 S30                                                  ; Set idle timeout

Thank you in advance for your help.

@dc42 are there any news about the development stage of the "multiple GCode streams"?

@phaedrux thank you for the quick response.

config.g
Configure auto save on loss of power at line 81

; config.g

; General preferences
G90                                                                 ; send absolute coordinates...
M83                                                                 ; ...but relative extruder moves
M550 P""                                                 ; set printer name
M575 P1 S1 B57600													; set serial comms parameters
M667 S1                                                             ; select CoreXY mode

; Network
M552 P0.0.0.0 S1                                             ; enable network and acquire dynamic address via DHCP
M586 P0 S1                                                          ; enable HTTP
M586 P1 S1                                                          ; enable FTP
M586 P2 S1                                                          ; enable Telnet

; Drives
M569 P0 S1                                                          ; physical drive 0 goes forwards
M569 P1 S0                                                          ; physical drive 1 goes forwards
M569 P2 S0                                                          ; physical drive 2 goes forwards
M569 P3 S0                                                          ; physical drive 3 goes forwards
M569 P4 S0                                                          ; physical drive 4 goes forwards
M569 P5 S0                                                          ; physical drive 5 goes forwards
M569 P6 S1                                                          ; physical drive 6 goes forwards
M584 X0 Y1 Z2 E3:4:5:6                                              ; set drive mapping
M350 X16 Y16 Z16 E16:16:8:16 I1                                     ; configure microstepping with interpolation
M92 X80.00 Y80.00 Z640 E837.00:4214.00:1240:4214.00              	
M566 X900.00 Y900.00 Z100.00 E120.00:120.00:120.00:120.00           ; set maximum instantaneous speed changes (mm/min)
M203 X30000.00 Y30000.00 Z2000.00 E1200.00:1000.00:1200.00:1200.00  ; set maximum speeds (mm/min)      
M201 X800.00 Y800.00 Z1200.00 E2500.00:1000.00:250.00:2500.00       ; set accelerations (mm/s^2)     
M906 X1800 Y1800 Z1800 E1400:1400:1400:1400 I30						; set motor currents (mA) and motor idle factor in per cent   
M84 S30                                                            	; Set idle timeout

; Axis Limits
M208 X-17 Y0 Z3 S1                                                  ; set axis minima
M208 X415 Y255 Z408 S0                                              ; set axis maxima


; Endstops
M574 X1 S1 P"!xstop"                                                ; configure active-low endstop for low end on X via pin xstop
M574 Y1 S1 P"!ystop"                                                ; configure active-low endstop for low end on Y via pin ystop
M574 Z1 S2                                                          ; configure Z-probe endstop for high end on Z only for BL-Touch

; Z-Probe
M558 P9 C"^zprobe.in" H10 F900 T20000 A1 R0.75 S0.02 B0 X0 Y0 Z1  	; set Z probe type to bltouch and the dive height + speeds
M950 S1 C"duex.pwm4"                              					; create servo pin 0 for BLTouch on exp.heater6 --> duex.pwm4
G31 P500 X25.4 Y-39.3 Z4                                          	; set Z probe trigger value, offset and trigger height -1.005 
M557 X10:410 Y0:215 P12                                             ; define mesh grid

; Heaters
M308 S0 P"bedtemp" Y"thermistor" T100000 B4138                      ; configure sensor 0 as thermistor on pin bedtemp
M950 H0 C"bedheat" Q100 T0                                          ; create bed heater output on bedheat and map it to sensor 0
M570 H0 P10 T20 S60													; configer heaterfault detection
M140 H0       
M143 H0 S220                                                        ; set temperature limit for heater 0 to 200C 
M307 H0 R1.086 C347.9 D2.11 S1.00 V23.9

M308 S1 P"spi.cs1" Y"rtd-max31865"                                  ; configure sensor 1 as thermocouple via CS pin spi.cs1
M950 H1 C"e0heat" T1                                                ; create nozzle heater output on e0heat and map it to sensor 1
M570 H1 P10 T20 S60													; configer heaterfault detection
M143 H1 S510                                                        ; set temperature limit for heater 1 to 500C
M307 H1 B0 S1.00                                                    ; disable bang-bang mode for heater  and set PWM limit


; Fans
M950 F0 C"fan0" Q5                                                  ; create fan 0 on pin fan0 and set its frequency
M106 P0 S0 H-1                                                      ; set fan 0 value. Thermostatic control is turned off

; Tools
M563 P0 S"Heatbed" D0 H5 F0                                         ; define tool 0

M563 P0 S"Tool_0" D0 H1 F0                                          ; define tool 0
G10 P0 X0 Y0 Z-5.33                        			        	    ; Set tool 0 axis offsets
G10 P0 R0 S0                                                        ; set initial tool 0 active and standby temperatures to 0C

; Miscellaneous
M950 S0 C"duex.pwm5"                                  				; create servo pin 0 for Magnet on exp.heater7 --> duex.pwm5

M950 J1 C"e1stop"													; Configure Pin number1 to e1stop
M581 P1 T2 S0 R1													

M911 S21.9 R23.0 P"M913 X0 Y0 G91 M83 G1 E-3 Z3 F800"				; Autosave at Powerfailure

M376 H5																; Set bed compensation taper

; set tools in standbay mode after start up	
T0 P0																; call tool 0 without any movements
G4 P500																; wait 500 ms
T-1 P0																; remove any tool without any movements

; set tool change positions in X and Y
global tool0_posX = -16.3											; Set toolposition X for Tool 0
global tool0_posY = 315.9											; Set toolposition Y for Tool 0

M98 P"Actual Toolnumber.html" 										; call and set actual Toolnumber form file sys/Actual Toolnuber

M501																; Restore parameter from config-override.g

My emergency stop cut of the power from the duet board directly so it simulates like an conventional power outage/blackout. I configured it a while ago and it worked out with the emergency stop. Since the last time i tested it, i had a few RFF updates, so maybe there could be an issue.

Hello,

today i tried to configure M911 " Configure auto save on loss of power".

It worked only until a certain point of the procedure.

1.print started
2.hit emergency button
4.start printer
3.typed M916 into console
4.procedure begins
5.resurrect.g also is created and resurrect-prologue.g within the resurrect.g is also executed
6.Stops after heating to preious temp and getting the right tool
7.print doesn't resume

Here my code:

line in Config.g

M911 S21.9 R23.0 P"M913 X0 Y0 G91 M83 G1 E-3 Z3 F800"				; Autosave at Powerfailure

resurrect.g

; File "0:/gcodes/mng.gcode" resume print after print paused at 2021-07-28 16:36
G21
M140 P0 S80.0
G29 S1
T-1 P0
G92 X191.590 Y158.915 Z-13.630
G60 S1
G10 P0 S0 R0
G10 P2 S0 R0
G10 P3 S0 R0
G10 P1 S200 R200
T1 P0
M98 P"resurrect-prologue.g"
M116
M290 X0.000 Y0.000 Z0.000 R0
T-1 P0
T1 P6
; Workplace coordinates
G10 L2 P1 X0.00 Y0.00 Z0.00
G10 L2 P2 X65.00 Y134.00 Z0.00
G10 L2 P3 X152.00 Y160.00 Z0.00
G10 L2 P4 X237.00 Y185.00 Z0.00
G10 L2 P5 X0.00 Y0.00 Z0.00
G10 L2 P6 X0.00 Y0.00 Z0.00
G10 L2 P7 X0.00 Y0.00 Z0.00
G10 L2 P8 X0.00 Y0.00 Z0.00
G10 L2 P9 X0.00 Y0.00 Z0.00
G54
M106 S0.00
M106 P0 S0.00
M116
G92 E0.00000
M83
M486 S0 A"Process1"
M486 S0G17
M23 "0:/gcodes/mng.gcode"
M26 S18283
G0 F6000 Z2.150
G0 F6000 X191.590 Y158.915
G0 F6000 Z0.150
G1 F2100.0 P0
G21
M24

the procedure stop at least at line 17 in resurrect.g.
So by the way what exactly does "T1 P6" mean? Couldn't figure it out. Maybe to set the coordinate system P6 below?

Is there a special order dependency for M911 in config.g?

I'm using:
Duet2Ethernet + Duex Expansionboard 5 channel
RRF 3.3

@benecito one way to go is to set up a trigger#.g file and try to disable Motormovements/currents of the E-Motor in this file when hitting your physical switch. See: https://duet3d.dozuki.com/Wiki/Gcode#Section_M18_Disable_all_stepper_motors

Also there are alot of possibilities with object model