Help with M669 etc
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When I perform homing on the axis’, the x homes to the left edge, the y homes to the rear where the endstop is.
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Here's my config.g file. I am using a toolboard, so there's a bit more than usual complexity I suppose, but I think where you're going to find what you're looking for is the section for "ENDSTOPS", where the y endstop is defined by the maximum position rather than the min. 0 on the y axis is then defined by the combination of the maxima y position and set distance to zero (in my case, 320). To reiterate, my x endstop is located on the left edge, and my y endstop is located at the left rear.
; Configuration file for Duet3 (firmware version 3.01 RC11) ; executed by the firmware on start-up ; ; --------------- Pin/connection Mapping Legend ------------------- ; 0.out0 - Bed heater ; 0.out1 ; 0.out2 ; 0.out3 ; 0.out4 - Radiator cooling fan - WC heatsink ; 0.out5 ; 0.out6 ; 0.out7 ; 0.out8 ; 0.out9 - Duet board cooling fan ; 0.out4.tach - Radiator cooling fan rpm wire - WC heatsink ; 0.out5.tach ; 0.out6.tach ; 0.io0.in ; 0.io1.in - Emergency stop switch ; 0.io2.in - Y max active low endstop switch ; 0.io3.in ; 0.io4.in ; 0.io5.in ; 0.io6.in ; 0.io7.in ; 0.io8.in ; 0.io0.out ; 0.io1.out ; 0.io2.out ; 0.io3.out ; 0.io4.out ; 0.io5.out ; 0.io6.out ; 0.io7.out ; 0.io8.out ; 0.servo, out10 (only on v0.5, not on v0.6) ; 0.pson ; 0.spi.cs0 ; 0.spi.cs1 ; 0.spi.cs2 ; 0.spi.cs3 ; 0.temp0 - Bed Thermistor ; 0.temp1 ; 0.temp2 ; 0.temp3 - Coolant Temp Sensor ; 0.mcu-temp - MCU sensor ; ;----------Toolboard 1 (CAN ID#20) ; 20.out0 - Hotend Heater ; 20.out1 ; 20.out2 - Parts cooler on printhead ; 20.out1.tach ; 20.out2.tach ; 20.io0.in - Z probe type to bltouch current - Piezo future ; 20.io1.in - X min active low endstop switch ; 20.io0.out - GPIO port 0 on toolboard io0, servo mode - BLTouch Z-Probe ; 20.temp0 - Extruder Thermistor ; 20.temp1 ; 20.button0 ; 20.button1 ; ; ----------------------------------------------------------------- ; ; General preferences G4 P2000 ; Hold your Horses. G90 ; send absolute coordinates... M83 ; ...but relative extruder moves G21 ; Set units to Millimeters M550 P"DUET3" ; set printer name M575 P1 S1 B57600 ; Set things up for the PanelDue M575 P1 S1 B57600 ; Set things up for the PanelDue M584 X0.3 Y0.2 Z0.0:0.1:0.4 E20.0 ; set drive mapping to each axis M669 K1 ; Select CoreXY mode - New format ; Network M552 S1 ; enable network ; M552 P192.168.3.120 ; Static IP Address M586 P0 S1 ; enable HTTP M586 P1 S0 ; disable FTP M586 P2 S0 ; disable Telnet ; Drives M569 P0.0 S0 ; physical drive 0 goes backwards - Z Axis Left (1) M569 P0.1 S0 ; physical drive 1 goes backwards - Z Axis Right Back (2) M569 P0.2 S0 D3 ; physical drive 2 goes backwards - Y Axis, activate Stealthchop M569 P0.3 S0 D3 ; physical drive 3 goes backwards - X Axis, activate Stealthchop M569 P0.4 S0 ; physical drive 4 goes backwards - Z Axis Right Front (3) M569 P20.0 S1 D3 ; physical drive 5 goes forwards - Extruder 1 ; Set up three Z-axis location M671 X-42.5:390.9:390.9 Y172.5:291.5:49.5 S5 ; leadscrews at 1 - left, 2 - rear right and 3 - front right M92 X199.27 Y199.27 Z397.23 E2700 ; set steps per mm M350 X16 Y16 Z16 E16 I1 ; configure micro-stepping with interpolation M566 X800.00 Y800.00 Z400.00 E240.00 ; set maximum instantaneous speed changes (mm/min) M203 X12000.00 Y12000.00 Z2500.00 E1200.00 ; set maximum speeds (mm/min) M201 X6000.00 Y6000.00 Z800.00 E800.00 ; set accelerations (mm/s^2) M906 X1000 Y1000 Z1000 E800 I30 ; set motor currents (mA) and motor idle factor in percent*100 M84 S30 ; Set idle timeout ; Axis Limits M208 X0 Y0 Z0 S1 ; set axis minima M208 X320 Y320 Z350 S0 ; set axis maxima ; Endstops M574 X1 S1 P"20.io1.in" ; X min active high endstop switch M574 Y2 S1 P"0.io2.in" ; Y max active high endstop switch ; Z-Probe - BLTouch - *CURRENT* M574 Z1 S2 ; set endstops controlled by probe M558 P9 C"^20.io0.in" H5 F2000 T12000 ; set Z probe type to bltouch and the dive height + speeds (bltouch NEEDS pullup) ; G31 P100 X28.5 Y-5 Z2.65 ; set Z probe trigger value, offset and trigger height - 0.25MM NOZZLE G31 P100 X-29.99 Y1.04 Z0.55 ; set Z probe trigger value, offset and trigger height - 0.40MM NOZZLE ; Z-Probe - PIEZO - *FUTURE* ; M574 Z1 S2 ; set endstops controlled by probe ; M558 P8 C"20.io0.in" H10 F2000 T20000 ; set Z probe type to PIEZO and the dive height + speeds ; G31 P100 X0 Y0 Z-0.1 ; set Z probe trigger value, offset and trigger height G30 ; Probe Z ; Configure Heaters and Sensors M308 S0 P"0.temp0" Y"thermistor" T100000 B3950 ; Configure bed temperature sensor M950 H0 C"0.out0" T0 ; Define heater 0 (bed heater) - bed_heat pin and Temp Sensor 0 M143 H0 S120 A2 ; set temperature limit for heater 0 to 120c M140 H0 ; Map heated bed to heater 0 M308 S1 P"20.temp0" Y"thermistor" T100000 B3950 ; Configure extruder 1 temperature sensor M950 H1 C"20.out0" T1 ; Define heater 1 (hot-end E0) to use the "20.out0" pin and Temp Sensor 1 M143 H1 S265 A2 ; set temperature limit for heater 1 to 265C M308 S2 P"mcu-temp" Y"mcu-temp" A"Duet Board" ; Configure MCU sensor M308 S3 P"temp3" Y"thermistor" T10000 B3988 A"Coolant" ; Configure coolant sensor ; Configure Fans M950 F0 C"20.out2" Q100 ; Define Fan_0 for use - Parts Cooler on Printhead - 4010 fan M950 F1 C"!0.out4+^0.out4.tach" Q25000 ; Define Fan_1 for use - Radiator cooling - WC heatsink. - PWM fan M950 F2 C"0.out9" Q25000 ; Define Fan_2 for use - Duet board cooling fan M950 S0 C"20.io0.out" ; Define GPIO port 0 on IO0, servo mode - BLTouch Z-Probe - *CURRENT* M950 J0 C"^!0.io1.in" ; Input 0 uses 0.io1.in pin, pullup enabled ; Fans M106 P0 S0 ; set fan 0. Parts Cooler on Printhead M106 P1 T25:40 H2 ; Set fan 1. Manages Radiator fan for water-cooled loop. M106 P2 T35:45 H2 ; Set fan 2. Manages Duet board fan. ;Set PID values M307 H0 A289.6 C634.8 D0.9 V23.3 B0 ; disable bang-bang mode for the bed heater and set PWM limit M307 H1 A561.8 C236.5 D5.8 V23.3 B0 ; disable bang-bang mode for the extruder heater and set PWM limit ; Pressure Advance M572 D0 S0.3 ; Set pressure advance to offset elasticity ; Tools M563 P0 S"Extruder 1" D0 H1 F0 ; define tool 0. Fan 0 operates with an active hot-end G10 P0 X0 Y0 Z0 R0 S0 ; set tool 0 axis offsets active and standby temperatures to 0C ; Emergency Stop M574 S1 P"^!0.io1.in" ; Define Emergency endstop - emergency stop switch condition M581 P0 S1 T0 ; Define action to be taken with activation of emergency stop switch ; Miscellaneous T0 ; select first tool -
Thanks I appreciate that.
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Getting late here, I'll check it out tomorrow.
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@luckyflyer said in Help with M669 etc:
Getting late here, I'll check it out tomorrow.
Sure. Pay special attention in mine the value of the y endstop configuration. It’s a “Y2” not Y1 as in yours. That is telling the duet that the y endstop is a MAX position for the Cartesian coordinate layout. It will still HOME at the endstop at the back - I think you’re mistaking homing as also being 0,0, but it doesn’t have to be.
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@luckyflyer said in Help with M669 etc:
The above configuration works except that the prints are mirrored. I then tried with drive 0 going to the right motor and drive 1 going to the left and putting the y endstop at the front of the printer. It now homes at left front and the prints are normal, not mirrored. However I prefer home to be left rear. I'm pretty sure that this can be configured with the right combination of M669, M569 and M574. I have tried several combinations but have not got it to work. Can someone help me out with this?
You need to swap the X and Y motor connections over, either physically (as you already tried) or in the M584 command, so that Ymin is towards you and Ymax is away from you. Then change your M574 Y command and homey.g file to home to max Y instead of min Y. Also change homeall.g to home Y to max.
Duet WiFi hardware designer and firmware engineer
Please do not ask me for Duet support via PM or email, use the forum
http://www.escher3d.com, https://miscsolutions.wordpress.com -
You need to swap the X and Y motor connections over, either physically (as you already tried) or in the M584 command, so that Ymin is towards you and Ymax is away from you. Then change your M574 Y command and homey.g file to home to max Y instead of min Y. Also change homeall.g to home Y to max.
But is it possible to have Ymin away from the back and Ymax towards the front, that is what I want.
Also Xmin to my left and max going right.This
*----------------->X
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V
YInstead of this
Y
^
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*---------------->X
Or is this not possible because of a software limitation? -
The instructions say this,
When an axis is homed to a low end (minimum) homing switch, the axis is assumed to be at the lower position limit. When it is homed to a high end (maximum) homing switch, it is assumed to be at the upper position limit. Therefore, changing the position limits in the M208 command will move the origin.
I want origin 0.0 to be left rear which would mean that a + movement on the X axes would move the head to the printers left, to the user standing in front of the printer, his right. Also with a + Y command the head would move toward the front of the printer, toward the user.
My motor mapping is Driver 0 = right rear motor = Y, Driver 1= left rear =X, I have changed this from default with M584.
So is my logic flawed on the above points? If not then we proceed to setting the motor directions to achieve the above goal. This is where I start to have problems. I can get 1 axes to go in the correct direction but not the other, change motor direction and the axes change is reversed.
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Been playing with this all day but it's the classic 1 step forward 2 steps back. here is where I'm at . Note mapping changes from above post.
M669 K1 ; select CoreXY mode
; Drives
M569 P0.0 S1 ; physical drive 0.0 goes forwards
M569 P0.1 S1 ; physical drive 0.1 goes forwards
M569 P0.2 S0 ; physical drive 0.2 goes backwards
M569 P0.3 S0 ; physical drive 0.3 goes backwardsM584 X0.0 Y0.1 Z0.2 E0.3 ; set drive mapping, driver 0 = X driver 1 = Y driver 2 = Z driver 3 = Extruder
The X motor is left rear, Y motor = Right.
; Axis Limits
M208 X0 Y0 Z-.2 S1 ; set axis minima
M208 X310 Y310 Z325 S0 ; set axis maxima; Endstops
M574 X1 S1 P"!io1.in" ; configure active-low endstop for low end on X via pin io1.in
M574 Y1 S1 P"!io2.in" ; configure active-low endstop for high end on Y via pin io2.in
M574 Z1 S1 P"io3.in"My Y end stop is at printer rear (preferred location)
All of the homes work correctly, using - (negative) movement numbers. All motor movements are correct as per this guide https://duet3d.dozuki.com/Wiki/ConfiguringRepRapFirmwareCoreXYPrinter
All console movements are correct.But it is still mirrored.
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I’d change your y endstop from y1 to y2
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I'll ask the dumb question...
There's no chance that your slicer is mirroring the model? -
Ok, when I change Y1 to Y2 everything still homes correctly but when I go to console and give Y a positive 1 MM move (endstop is triggered) nothing happens. If I give Y a negative 1 MM move even though the endstop is triggered Y moves in the Negative direction. That is not right. It's like it thinks that the 0 origin is at the front of the printer.
Later I took this to the next level and loaded a print. The print executed until the gantry was commanded to move forward. Same symptom as above, no movement, endstop activated.
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@OwenD said in Help with M669 etc:
I'll ask the dumb question...
There's no chance that your slicer is mirroring the model?I'm running s3d and have unchecked flip Y build table axes (I'm aware that there are 2 possible places in S3d that control this feature depending on settings) it had no effect, but I'll try it again just to be sure, I'm fighting a cold and at times a little loopy.
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Flipping Y build table axes in s3d makes no change in the print no matter the setting. It's like the firmware is suppressing the change.
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@luckyflyer said in Help with M669 etc:
Flipping Y build table axes in s3d makes no change in the print no matter the setting. It's like the firmware is suppressing the change.
Compare the gcode files produced.
Delta / Kossel printer fanatic
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dc42 , I have trouble visualizing this statement in my minds eye "The important thing is that viewed from above, +Y is 90deg anticlockwise from +X. Can someone rephrase this or better yet, for us weak minded draw a picture, thanks.
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Got to take about 1 hour break, Downs syndrome son requires we play games on Saturday night.
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@Danal said in Help with M669 etc:
@luckyflyer said in Help with M669 etc:
Flipping Y build table axes in s3d makes no change in the print no matter the setting. It's like the firmware is suppressing the change.
Compare the gcode files produced.
Thats a good idea.
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@luckyflyer said in Help with M669 etc:
"The important thing is that viewed from above, +Y is 90deg anticlockwise from +X
https://en.wikipedia.org/wiki/Cartesian_coordinate_system#Three_dimensions
and a bit further down https://en.wikipedia.org/wiki/Cartesian_coordinate_system#In_three_dimensions
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Aah yes I get it now, thanks bearer.
