@Phaedrux said in Question: Connecting extruder motor(s) using regular Nema17:

@wieman01 said in Question: Connecting extruder motor(s) using regular Nema17:

correct?

Correct.

The extruders are different than other axis because each extruder is treated independently. They may have different motors and are not commanded in a coordinated way like other axis are.

If you don't specify the parameters for each extruder you may end up with an unknown default value and unexpected behaviour.

Thank you, Phaedrux, that makes sense now. Will make the changes as agreed. I think I should have a very solid baseline now for my next endeavor when my capacitive Z probe arrives (NPN NO).

Thanks to all of you for bearing with me. These last few days have been very insightful and crucial to my project.

@oliof

Thank you, you're amazing! I will indeed check it out, you got me curious. I will let you how it goes when I am ready.

@jay_s_uk said in Question: Home Z with Z-probe before homing X & Y:

@wieman01 thats probably because you're saying Z is homed too in line 4.
Does it do the same thing if you omit the Z0 from G92?

Wow, that did the trick! Thank you very much! I removed the "Z0" and it worked as expected right away. It's those small things sometimes that can trip you up. I really owe you one, my friend!

So it IS possible to probe Z before you home X & Y. Hope this thread serves as some sort of documentation for others with a similar issues.

Here is the correct code:

; prepare homing & homing sequence
G91                     	; relative positioning
G92 X0 Y0   			; step necessary to skip homing of X & Z

; home Z (first pass)
G1 H2 Z20 F600 			; raise head to ensure it is above the switch trigger height
M558 F400			; set speed
G30 		         	; home Z by probing the bed, remain in last position (S-1) 

; home X & Y
G1 H1 X-500 Y-405 F3000 	; move quickly to X and Y axis endstops and stop there (first pass)
G1 H2 X15 Y5 F3000      	; go back a few mm
G1 H1 X-500 Y-405 F360  	; move slowly to X and Y axis endstops once more (second pass)
G1 H2 X15 Y5 F3000      	; go back a few mm

; home Z (second pass)
G1 H2 Z10 F600 			; raise head to ensure it is above the switch trigger height
M558 F400			; set speed
G30 		         	; home Z by probing the bed, remain in last position (S-1) 

; final positioning
G90                     	; absolute positioning
G1 X10 Y10 Z20 F3000            ; go to new position

@bot

Haha... I probably won't... just yet.

@jay_s_uk said in Question: Home Z with Z-probe before homing X & Y:

@wieman01 what I would add just for extra completeness is that you should rehome the Z axis at a set point on the build platform (preferably the centre) after you have completed the X and Y homing.
I know you are using it for printing clay, but it will give you a repeatable starting point just in case anything goes out of whack (especially if you have multi motor axes) and if you go for mesh levelling, its always good to use the same datum point to establish Z

Yes, you're right. I will do that, that makes sense. Thank you again, @jay_s_uk , your support was really helpful and will be put to good use.

N.B.: I have updated my script above to include the second pass z probing.

Hello again,

I was able to resolve my issue. The problem at hand lay in the Drives Section of my "config.g" file. I previously used the Duet Configurator and subsequently made a few changes by hand. That must have messed it up and caused these problems.

So I did as you advised, Frederick, and changed the extruder settings to match the X axis configuration. I also adjusted the faulty E16:16:... line.

Both extruder motors now behave/move the way they should. I think I have a solid baseline now and should be able to solve any other upcoming problems myself. It's always tough creating your first working version when you are new to something, but once it's there the rest falls into place as you go forward.

Thank you both for your help & patience. I know it can be challenging at times to help newbies like me asking the same questions times and again when the solution should be so obvious.

Just to share this with other fellow Duet 2 & Duex5 users:

; Configuration file for Duet WiFi (firmware version 3)

; General preferences
G90                                                                 ; send absolute coordinates...
M83                                                                 ; ...but relative extruder moves
M550 P"Clayster"                                                    ; set printer name

; Network
M552 S1                                                             ; enable network
M586 P0 S1                                                          ; enable HTTP
M586 P1 S0                                                          ; disable FTP
M586 P2 S0                                                          ; disable Telnet

; Drives 
M569 P0 S1                                                          ; X1
M569 P1 S1                                                          ; Y
M569 P2 S1                                                          ; Z1 & Z2
M569 P3 S1                                                          ; E0
M569 P4 S1                                                          ; E1
M569 P5 S1                                                          ; Z3
M569 P6 S1                                                          ; Z4
M569 P7 S0                                                          ; X2

M584 X0:7 Y1 Z2:5:6 E3:4                                            ; remap motors 

M350 X16:16 Y16 Z16:16:16 E16:16 I1                        	; configure microstepping with interpolation
M92 X100.00 Y100.00 Z1600.00 E250.00:100.00							; set steps per mm 
M566 X900.00 Y900.00 Z20.00 E200.00							   		; set maximum instantaneous speed changes (mm/min)
M203 X6000.00 Y6000.00 Z180.00 E1200.00:100.00					 	; set maximum speeds (mm/min)
M201 X500.00 Y500.00 Z250.00 E250.00					        	; set accelerations (mm/s^2)
M906 X1000 Y1000 Z1000 E1000 I30 				          			; set motor currents (mA) and motor idle factor in per cent
M84 S30                                                				; Set idle timeout

; Axis Limits
M208 X0 Y0 Z0 S1                                                    ; set axis minima
M208 X380 Y380 Z350 S0                                              ; 38cm x 38cm x 35cm

; Endstops
M574 X1 S1 P"!xstop+!duex.e4stop"                                   ; configure active-low endstop for 2 X-motors
M574 Y1 S1 P"!ystop"                                                ; configure active-low endstop for low end on Y via pin ystop
M574 Z1 S1 P"!zstop"												; remove once Z probe is available

; Z-Probe
;M558 P3 C"^zprobe.in" H5 I1 F120 T6000     			            ; set Z probe type to switch and the dive height + speeds
;M558 P5 C"^zprobe.in" H5 I1 F120 T6000                             ; backup
;G31 P500 X0 Y0 Z2.5                                                ; set Z probe trigger value, offset and trigger height
;M557 X15:215 Y15:195 S20                                           ; define mesh grid

; Miscellaneous
M575 P1 S1 B57600                                                   ; enable support for PanelDue

; Extruder I 
M563 P0 D0  														; enable tool 0 & extruder E0 (D0)
G10 P0 X0 Y0 Z0 													; axis offsets for extruder
G10 P0 R0 S0														; set extruder active and standby temperature to 0 Celsius

; Extruder II
M563 P1 D1  														; enable tool 1 & extruder E1 (D1)
G10 P0 X0 Y0 Z0 													; axis offsets for extruder
G10 P0 R0 S0														; set extruder active and standby temperature to 0 Celsius

@jay_s_uk said in Question: Best settings for maximum torque of stepper motor:

@wieman01 have you looked at the EMF calculator? https://www.reprapfirmware.org/emf.html

Yes, I have seen it, but I think the graph I have attached shows the same thing. The supplier provides it and I have taken the relevant range (up to 200 RPM) into account.

@gixxerfast said in BL Touch not working:

Which version of RRF are you using, ver 2? I can't see that you've mentioned it.

EDIT: OK, so you're using RRF 3.3

Then I think you should config the BLTouch differently:

Have you read this bit, "Software setup (RepRapFirmware 3)" for the https://duet3d.dozuki.com/Wiki/Connecting_a_Z_probe

Either I'm a sloppy reader or I can't see that you have the M950

AS in this example:
2. Create a GPIO/Servo pin index using your chosen control pin, for example:

M950 S0 C"io7.out" ; Duet 3 MB6HC
M950 S0 C"io3.out" ; Duet 3 Mini 5+
M950 S0 C"exp.heater3" ; Duet 2 WiFi/Ethernet
M950 S0 C"duex.pwm1" ; Duet 2 WiFi/Ethernet + DueX2/5
M950 S0 C"!exp.heater6" ; Duet 2 WiFi/Ethernet + BoB
M950 S0 C"zprobe.mod" ; Duet 2 Maestro

Thank you, that did the trick! I must have overseen that section and used outdated sources. There are so many out there, you don't see the wood for the trees.

Also my deployprobe.g and retractprobe.g files referenced P7 rather than P0 as was mentioned in one of the guides. But these files reference the probe input rather than the heater, so P0 is the correct setting.

These are the correct settings and corresponding files:

config.g

; General preferences
G90                                                                 ; send absolute coordinates...
M83                                                                 ; ...but relative extruder moves
M550 P"Clayster"                                                    ; set printer name
M302 P1																; enable cold extrusion for clay printing

; Network
M552 S1                                                             ; enable network
M586 P0 S1                                                          ; enable HTTP
M586 P1 S0                                                          ; disable FTP
M586 P2 S0                                                          ; disable Telnet

; Drives 
M569 P0 S1                                                          ; X1
M569 P1 S1                                                          ; Y (reversed)
M569 P2 S0                                                          ; Z1
M569 P3 S1                                                          ; E0 (Extruder, reversed)
M569 P4 S1                                                          ; E1 (Ram, reversed)
M569 P5 S0                                                          ; Z2
M569 P6 S0                                                          ; Z3
M569 P7 S0                                                          ; X2
M569 P8 S0                                                          ; Z4
M569 P9 S0                                                          ; n/a

M584 X0:7 Y1 Z2:5:6:8 E3:4                                          ; remap motors 

M350 X16 Y16 Z16 E8:16 I1			                       			; configure microstepping with interpolation

M92 X100.00 Y100.00 Z1600.00 E1000.00:1000.00						; set steps per mm
M566 X500.00 Y500.00 Z20.00 E1000.00:500.00					   		; set maximum instantaneous speed changes (mm/min)
M203 X5000.00 Y5000.00 Z600.00 E6000.00:400.00					 	; set maximum speeds (mm/min)
M201 X150.00 Y200.00 Z500.00 E1000.00:500.00				        ; set accelerations (mm/s^2)

M906 X1200 Y1200 Z500 E2000:2000 I30  			          			; set motor currents (mA) and motor idle factor in per cent
M84 S30                                                				; set idle timeout

; Axis Limits
M208 X0:390 Y0:365 Z0:350 S1                                        ; 390mm x 365mm x 350mm

; Bed leveling geometry & leveling
M671 X470:470:-70:-70 Y400:-40:400:-40 S20						    ; position leadscrews (S = adjust max.)

; Endstops
M574 X1 S1 P"xstop+e0stop"                     		                ; configure active-low endstop for 2 X-motors
M574 Y1 S1 P"ystop"                                                 ; configure active-low endstop for low end on Y via pin ystop

; Filament sensor for Ram
M591 P1 C"e1stop" S1 D1												; extruder (Ram) endstop

; Z-Probe (capacitive sensor)
;M558 P5 C"^!zprobe.in" I1 											; default travel (5mm)
;G31 P1000 X0 Y0 Z0.475                                              ; Z = offset (greater value = closer to bed)

; Miscellaneous
M575 P1 S1 B57600                                                   ; enable support for PanelDue

; Tool 1 (Ram 80mm)
M563 P1 D0:1 S"80mm"												; enable tool 1 and extruder E0 (D0) & E1 (D1)
M567 P1 E1.00:0.03200												; mixing ratio (77% more volume)

G10 P1 S0 R0 X0 Y0 													; axis offsets for extruder
G10 P1 R0 S0														; set extruders active and standby temperature to 0 Celsius

; Tool 2 ("Pause")
M563 P2 D1 S"Pause"													; retract ram motor when ram endstop is triggered

; Enable moving of axes before homing
M564 H0 S1															; S0 = move beyond axis limits, H0 = move without homing

; BL Touch
M950 S0 C"duex.pwm5"			                          ; assign heater 7 on the Duex5 to BL touch
M558 P9 C"^zprobe.in" H5 F500 T6000					; P = Z probe type 9, H = dive height, F = speed
G31 P25 X0 Y-36 Z0.0 									; Z probe trigger value, offset in relation to nozzle

deployprobe.g

M280 P0 S10

retractprobe.g

M280 P0 S90

Thank you for your help! You made my day!

Could you also post the contents of "deployprobe.g" and "retractprobe.g" please? There is a chance that's the source of your problem.

@jay_s_uk

Oh, gosh, can it be that simple?! Thank you, my friend, that worked like a charm. All good now, the G31 parameter is safely stored in "config-override.g".

wieman01

@dc42 said in Question: Cannot connect via DWC while print is paused (Duet 2):

@wieman01 please share the contents of your pause.g file.

Thank you. These are the contents:

G91            			; relative positioning
G1 Z20 F360     		; lift Z by 10mm

When I checked the file I noticed I had filed the contents under "Pause.g" with a capital letter. I changed it to "pause.g" and ta-da... I can connect with no problems.

So sorry for having bothered you, but apparently this discussion was necessary.

Thank you both!

@Phaedrux

Yes, I can ping the Duet's ip address, I get a response. DWC also tries to connect, but the connection drops constantly.

Hello,

We face a strange issue whenever we pause one of the prints or when the printer pauses having run out of filament. As soon as we reset the machine or press "Continue" the wifi connection works fine.

We run the firmware version 3.4.5 on a Duet 2 with an external antenna.

Is that by design or am I missing something?

Hello, @ctilley79,

I generally have these issues when there is a problem with the wiring or the connectors. Manual extruding via DWC works fine, but then the motor needs higher currents, it move backwards because the wires only let through so much current.

I would check every wiring the in particular the soldering joints and connectors. This solves this particular problem for me every time.

wieman01

@JoergS5 said in Robotic kinematics:

@wieman01 hello,

this is a big robot you're planning to buy (or maybe build?). I have no experience with big robots, so I can only give you some thoughts without guarantee, but maybe on the forum are users with experience.

My thoughts are, if it shall be Duet based:

• it will use probably servos with high current, so a 6XD board is probably the right choice, with a 3HC extension card for optional more axes for endpoint functionality if necessary
• those robots use a lot of energy to operate. It depends on your requirements, but I would personally try to buy a low enery one which is slower or smaller or has less payload capability, but this depends on what you're planning to do with it. For palletizing e.g. the 5 axis robots have counterweights, they should need less energy compared to the 6 axis ones. The palletizing robots use a parallelogram structure for one axis less.

Hello, @JoergS5,

Thank you, that is a starting point.

We will be using that robot for 3D-printing. The overall payload it will have to carry won't exceed a few kilograms. So there is no heavy lifting involved.

Buying vs. building one myself... that is the question. I will need to see what is available first and then decide. It's tempting through to start designing one from scratch now that you are asking...

wieman01

Hello Joerg,

First of all, thank you for your continuing support & effort, this is really impressive work you have accomplished so far. Looking forward to the first final release (although it will probably never be final I reckon)!

I was wondering if you had any recommendations as to what robot you would take into consideration that works best with the Duet boards. I am new to this, and I don't really know where to start and particularly what I need to pay attention to.

What I am looking for is a robot arm that would allow for a "build volume" (if you can even use that terms in this regard) of approximately 1500x1000x1000mm (1500mm being the maximum height) for 3D-printing. I know there are lots of commercial options out there, but I was wondering what criteria a second-hand robot would have to meet in order work with your code and the Duet 2 (or 3). I don't want to spend 10K plus EUR before I know what I am doing.

Would be great if you could share a few ideas, but I totally understand you're a busy man.

Looking forward to hearing from you.

wieman01

@oliof

Thank you, you're amazing! I will indeed check it out, you got me curious. I will let you how it goes when I am ready.

@dc42 said in Question: G29 S4 for Duet 2 (firmware v3.5):

@wieman01 we're not planning to add this feature to Duet 2 because it's applications are fairly niche and both flash memory and RAM on Duet 2 are running out. However, if you set up to build RepRapFirmware yourself then it should be straightforward to enable the feature in the Duet 2 build. You might have to remove another feature (e.g. a kinematics that you don't need) to make space in flash memory.

That is too bad, but I understand, it is rather niche. I may in fact take a look at the RepRap source code later in the year should the need arise again to have this feature. Would you mind pointing me to the relevant section where this feature is enabled for the Duet 3?

Thank you for your response.

Hello,

I saw in the latest changelog that the G29 S4 feature was added for Duet 3. That is indeed great news, and I am excited to see this feature also for the Duet 2.

Any chance this will ever be implemented for the Duet 2? It would certainly make my life a lot easier.

wieman01

@joergs5 said in Robotic kinematics:

@wieman01 tested will be:

6 axis industrial robot
CNC 5 axis including CoreXY 5 axis
4 axis palletized robot

Documentation starting point is https://docs.duet3d.com/User_manual/Machine_configuration/Configuring_RepRapFirmware_for_a_Robot_printer and by the robot tag there are specialized documents for the specific types.

Other serial chain types are possible by configuring Denavit-Hartenberg parameters. With this concept, prismatic/linear and rotary axes can be combined in any combination, as long as they are in series. The current limit is 7 axes, but this is just a fixed variable.

Thank you, @JoergS5. So the supported hardware isn't restricted to certain manufacturers, but to the design of the robot. That makes sense. I'll look into it. And really big thanks for your contribution here!