Endstop problem DeltaWasp

goodchrhere

Hello

I have installed the duet board on a Delta Wasp 2040.
Endstop works, but at the end of the Endstop it is not X0 Y0 and Z430.

What is the problem?

; Configuration file for Duet WiFi (firmware version 2.03)
; executed by the firmware on start-up
;
; generated by RepRapFirmware Configuration Tool v2.0.5 on Tue Oct 29 2019 12:23:52 GMT+0100 (Mitteleuropäische Normalzeit)

; General preferences
G90 ; send absolute coordinates...
M83 ; ...but relative extruder moves
M550 P"Deltawasp 2.0" ; set printer name
M665 R175 L295 B110 H430 ; Set delta radius, diagonal rod length, printable radius and homed height
M666 X0 Y0 ; put your endstop adjustments here, or let auto calibration find them

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

; Drives
M569 P0 S0 ; physical drive 0 goes backwards
M569 P1 S0 ; physical drive 1 goes backwards
M569 P2 S0 ; physical drive 2 goes backwards
M569 P3 S0 ; physical drive 3 goes backwards
M584 X0 Y1 Z2 E3 ; set drive mapping
M350 X256 Y256 Z256 E64 I0 ; configure microstepping without interpolation
M92 X1374.00 Y1374.00 Z1374.00 E390.00 ; set steps per mm
M566 X1200.00 Y1200.00 Z1200.00 E1200.00 ; set maximum instantaneous speed changes (mm/min)
M203 X18000.00 Y18000.00 Z18000.00 E1200.00 ; set maximum speeds (mm/min)
M201 X1000.00 Y1000.00 Z1000.00 E1600.00 ; set accelerations (mm/s^2)
M906 X1600 Y1600 Z1600 E1600 ; set motor currents (mA)
M84 S0 ; Disable motor idle current reduction

; Axis Limits
M208 X0 Y0 Z0 S1 ; set minimum Z

; Endstops
M574 X0 Y0 Z0 S1 ; set active high endstops

; Heaters
M307 H0 B0 S1.00 ; disable bang-bang mode for the bed heater and set PWM limit
M305 P0 T100000 B4138 R4700 ; set thermistor + ADC parameters for heater 0
M143 H0 S120 ; set temperature limit for heater 0 to 120C
M305 P1 T100000 B4725 C7.060000e-8 R4700 ; set thermistor + ADC parameters for heater 1
M143 H1 S300 ; set temperature limit for heater 1 to 300C

; Fans
M106 P0 S1 I0 F500 H-1 ; set fan 0 value, PWM signal inversion and frequency. Thermostatic control is turned off
M106 P1 S1 I0 F500 H-1 ; set fan 1 value, PWM signal inversion and frequency. Thermostatic control is turned off

; Tools
M563 P0 D0 H1 F-1 ; define tool 0

G10 P0 R0 S0 ; set initial tool 0 active and standby temperatures to 0C

; Custom settings are not defined

; homedelta.g
; called to home all towers on a delta printer
;
; generated by RepRapFirmware Configuration Tool v2.1.2 on Tue Nov 12 2019 16:19:50 GMT+0100 (Mitteleuropäische Normalzeit)
G91 ; relative positioning

G1 S1 X505 Y505 Z505 F3000 ; move all towers to the high end stopping at the endstops (first pass)
G1 S2 X-5 Y-5 Z-5 F3000 ; go down a few mm
G1 S1 X10 Y10 Z10 F360 ; move all towers up once more (second pass)
G1 S2 F6000 ; move down a few mm so that the nozzle can be centred
G90 S1 X0 Y0 Z430 ; absolute positioning

JoergS5

@goodchrhere said in Endstop problem DeltaWasp:

; Endstops
M574 X0 Y0 Z0 S1 ; set active high endstops

I am not sure, but here you say that it has no endstops. Is this intended?

droftarts

@goodchrhere said in Endstop problem DeltaWasp:

I'm not sure if the following are causing the X 0.6, Y 1.7 and Z 431 offset, but they should be changed:

M666 X0 Y0 ; put your endstop adjustments here, or let auto calibration find them

This should have your Z endstop offset in there, too, though currently just put in:

M666 X0 Y0 Z0 ; put your endstop adjustments here, or let auto calibration find them

; Axis Limits
M208 X0 Y0 Z0 S1 ; set minimum Z

You don't want to limit X and Y to 0, as Deltas home in the middle, so X and Y need to be able to go negative! The delta radius you set with M665 will limit X and Y. Use:

M208 Z0 S1 ; set minimum Z

; Endstops
M574 X0 Y0 Z0 S1 ; set active high endstops

This is saying "no endstops on X, Y and Z". See M574. I'm surprised the axes stop at all when homing! Almost certainly you want:

; Endstops
M574 X2 Y2 Z2 S1                            ; Set active high endstops

M350 X256 Y256 Z256 E64 I0 ; configure microstepping without interpolation

You almost certainly DON'T need to be running with 256x microstepping. This can limit speed on a Delta. Set it to 16x with interpolation, and change your steps per mm.

In homedelta.g:

G1 S2 F6000 ; move down a few mm so that the nozzle can be centred
G90 S1 X0 Y0 Z430 ; absolute positioning

That G1 move has no coordinates, so there's no move.
That last line should just be 'G90' on it's own. G90 doesn't take any parameters.
I think it's a cut-and-paste error and should be:

G1 Z-5 F6000 ; move down a few mm so that the nozzle can be centred
> G90                         ; absolute positioning

Edit: still in relative mode, so need to move Z down -5 from homed position. Or do the G90 first, then move to X0 Y0 Z425.

Edit: Use G1 H# rather than G1 S#, assuming you're using the latest version of the firmware. G1 S# is deprecated for homing, though still works in RRF2.x. My homedelta.g on a shorter Delta:

; homedelta.g
; called to home all towers on a delta printer
;
G91                        ; relative positioning
G1 H1 X184 Y184 Z184 F1800 ; move all towers to the high end stopping at the endstops (first pass)
G1 H2 X-5 Y-5 Z-5 F1800    ; go down a few mm
G1 H1 X10 Y10 Z10 F360     ; move all towers up once more (second pass)
G1 Z-5 F12000              ; move down a few mm so that the nozzle can be centred
G90                        ; absolute positioning
G1 X0 Y0 F12000            ; move X+Y to the centre

Ian

Edited: saw extra mistake in homedelta.g

droftarts

@goodchrhere said in Endstop problem DeltaWasp:

M201 X1000.00 Y1000.00 Z1000.00 E1600.00 ; set accelerations (mm/s^2)
M906 X1600 Y1600 Z1600 E1600 ; set motor currents (mA)

Your accelerations are set quite low (mine are 4000, but it's a smaller, lighter Delta) and your motor currents set high; what motors are you using?

Ian

goodchrhere

@droftarts I changed all the sequences and it works. thank you.

goodchrhere

@droftarts It's nema 17 motors, you can using 1.68A on this motor, no problem

goodchrhere

@droftarts I changed the value. I have the problem, the z is 5mm to high during the printing.
I changed the homed heigh from 430 to 435mm but i have g0/g1 error, target position not reachable from current position.
What is the problem?

thanks for your help.

dc42

@goodchrhere said in Endstop problem DeltaWasp:

@droftarts I changed the value. I have the problem, the z is 5mm to high during the printing.
I changed the homed heigh from 430 to 435mm but i have g0/g1 error, target position not reachable from current position.
What is the problem?

thanks for your help.

What M208 commands are you using, if any?

goodchrhere

@dc42 I don't know, but i solved the problem.

droftarts

@goodchrhere said in Endstop problem DeltaWasp:

@droftarts It's nema 17 motors, you can using 1.68A on this motor, no problem

If your motors are rated at 1.68A, they will get hot (+80ºC) if you set the current to 1.6A. You should set the current at a maximum of 85% of rated current, so around 1.4A. This way you will still get close to maximum torque, but the motor shouldn't get more than warm. See https://duet3d.dozuki.com/Wiki/Choosing_and_connecting_stepper_motors#Section_Rated_current

Ian

CHarding

Hi ! I know you've solved the problem you initially asked about. I'm wondering it you could give my some info on how tricky putting a Duet board on a WASP delta was? I have a WASP 60100 (build 2017) and would love to upgrade it with a Duetboard and maybe a E3D Volcano hotend. But, I'm not really sure what I'm getting myself into Would you mind me asking a couple of newbie questions about your process?