Dual Markforged Kinematics Setup
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I converted a CoreXY printer to Dual Markforged IDEX based on the RatRig Vcore 3.1 prototype to IDEX. its nearly working except for the 2nd carriage U axis.
When i home X, both carriages work properly. left carriage homes to the left, then right carriage homes to the right.
but when i home the Y axis, the left carriage stays stationary properly, but the right carriage drifts rightward. the motor is not counteracting properly. I suspect its simply the Y matrix improperly configured, but i dont understand the kinematics matrix and the definitions dont seem to help much when i tried to read the documentation.
config.g
; General preferences G90 ; send absolute coordinates... M83 ; ...but relative extruder moves M550 P"V-Core3" ; set printer name ;M669 K11 Y1:-1:0:-1 ; Dual Markforged Kinematics https://forum.duet3d.com/topic/7796/haq-xy/125 https://forum.duet3d.com/topic/21021/dual-markforged-kinematics?_=1672244913067 M669 K1 X1:0:0:0 Y1:-1:0:1 Z0:0:1:0 U0:0:0:1; Matrix mapping for Axis - X:Y:Z:U G21 ; Set Units to Millimeters ; Network M552 S2 ; enable network M586 P0 S1 ; enable HTTP M586 P1 S0 ; disable FTP M586 P2 S0 ; disable Telnet G4 S2 ; wait for expansion boards to start ; Drives M569 P0.0 S0 D2 ; Left Z physical drive 0.0 goes forwards M569 P0.1 S0 D2 ; Rear Z physical drive 0.1 goes forwards M569 P0.2 S0 D2 ; Right Z physical drive 0.2 goes forwards M569 P0.3 S1 D2 ; Right U toolhead drive 0.3 goes forwards M569 P0.4 S1 D2 ; Left X toolhead drive 0.4 goes forwards M569 P0.5 S0 D2 ; Left Y drive 0.5 goes forwards M569 P0.6 S1 D2 ; Right Y drive 0.6 goes reverse M569 P121.0 S1 D2 ; Extruder physical drive 121.0 goes forwards ;M569 P122.0 S1 D2 ; Extruder physical drive 122.0 goes forwards M584 Z0.0:0.1:0.2 Y0.5:0.6 X0.4 U0.3 E121.0;:122.0 ; set drive mapping M350 U16 X16 Y16 Z16 E16 I1 ; configure microstepping with interpolation M92 U80.0 X80.00 Y80.00 Z800.00 E690 ;E400 ; set steps per mm M906 U2000 X2000 Y2000 Z1800 E1000 I10 ;E700 I30 ; set motor currents (mA) and motor idle factor in per cent -- safe for Duet 3 mini 5+ M84 S30 ; Set idle timeout M566 U500.00 X500.00 Y500.00 Z60.00 E300 P1 ;X1500.00 Y1500.00 Z6.00 E300 P1 ;E120.00 P1 ; set maximum instantaneous speed changes (mm/min) M203 U30000.00 X30000.00 Y30000.00 Z1000.00 E7200 ;E3600.00 ; set maximum speeds (mm/min) M201 U10000.00 X10000.00 Y10000.00 Z100.00 E10000 ;E3600.00 ; set accelerations (mm/s^2) M207 S0.6 F7200 Z0.2 ; firmware retraction orbiter 2.0 ; Axis Limits M208 X0 U0 Y0 Z0 S1 ; set axis minima M208 X310 U310 Y310 Z300 S0 ; set axis maxima ; Endstops M574 X1 S1 P"121.io2.in" ; configure active high endstops Toolhead 1 low end M574 U2 S1 P"io3.in" ; configure active high endstops Toolhead 2 high end M574 Y2 S1 P"io2.in" ; configure active high endstops. IO0 and IO1 also are UART, so do not put endstops on them, use them elsewhere to free up UART. M574 Z1 S2 M671 X-4.5:150:304.5 Y-4.52:305:-4.52 S5 ; define positions of Z leadscrews or bed levelling screws M557 X30:280 Y20:290 P5 ; define 5x5 mesh grid ; Heaters M308 S0 P"temp0" Y"thermistor" T100000 B3950 A"Keenevo 600W Bed" ; configure sensor 0 as thermistor on pin temp0 M950 H0 C"out0" T0 Q10 ; Define Heater0 as the heated bed, bind to Sensor0 M140 H0 P0 ; Define Heated Bed M307 H0 R0.602 K0.401:0.000 D2.44 E1.35 S1.00 B0 ; PID Tuning for Heater0, Heated Bed (100C) M143 H0 S140 ; Set temperature limit for Heater0 to 120C M308 S1 P"121.temp0" Y"thermistor" T100000 B4725 C7.060000e-8 A"Slice Hotend" ;Slice Engineering 300C thermistor, settings are online M950 H1 C"121.out0" T1 Q100 ; Define Heater1 as Extruder0 heater, bind to Sensor1 M307 H1 R2.808 K0.368:0.000 D4.56 E1.35 S1.00 B0 V23.8 ; PID Tuning for Heater1, Extruder0 (240C) M143 H1 S325 ; Set temperature limit for heater 1 to 285C M308 S2 P"temp1" Y"thermistor" T100000 B3950 C7.060000e-8 A"Chamber" ; configure sensor 2 as thermistor on pin temp1 M950 H2 C"out1" T2 ;Q10 ; create chamber heater output on out1 and map it to sensor 2 M307 H2 R0.01 K0.200:0.000 D60 E1.35 S1.00 B1 ; enable bang-bang mode for the chamber heater and set PWM limit M141 H2 ; map chamber to heater 2 M143 H2 S120 ; set temperature limit for heater 2 to 60C M308 S3 P"121.temp1" Y"thermistor" A"Cooling Block" T100000 B3950 C7.060000e-8 ; Define Sensor as Chamber temperature M308 S4 Y"drivers" A"4028 Power" ; 4028 power using spare heater M308 S5 Y"mcu-temp" A"MCU" ; Define Sensor3 as the integrated MCU temperature sensor M308 S6 Y"drivers" A"TMC Drivers" ; Define Sensor4 as the TMC overheat sensor M308 S7 Y"mcu-temp" P"121.dummy" A"Toolboard MCU" M308 S8 Y"drivers" P"121.dummy" A"1LC Stepper" M308 S9 P"temp2" Y"thermistor" T100000 B3950 C7.060000e-8 A"Orbiter Motor" ; configure sensor 9 as thermistor on pin temp2 M308 S10 P"spi.cs1" Y"thermocouple-max31856" K"K" A"TC0 Chamber Heater"; define temperature sensor number 10 as a K Type thermocouple on the first port of a temperature daughter board plugged into the expansion board with CAN bus address 3. M308 S11 P"spi.cs2" Y"thermocouple-max31856" K"K" A"TC1 Chamber Fins"; define temperature sensor number11 as a T Type thermocouple on the first port of a temperature daughter board plugged into the expansion board with CAN bus address 3. ; Fans M950 H3 C"!out2" T2 Q10 ;H2 ; Define Heater2 as the 4028 fan power, bind to Sensor3 M143 H3 P2 S200 ; Needed M143 to set max temp so the graph scaled correctly M950 F0 C"!121.out1+out1.tach" Q25000 ;Q500 ; create fan 0 on pin out4 and set its frequency M106 P0 C"T0 Layer Fan" L0.0 X1.0 S0 H-1 B0.1 ; set fan 0 name and value. Thermostatic control is turned off M950 F1 C"121.out2+out2.tach" Q500 ; Fan 1 uses out3, and using out3.tach as a tacho input M106 P1 C"T0 Hotend Fan" S0 H1 T45 ; set fan 1 name and value. Thermostatic control turned on for Hotend M950 F2 C"out5" Q500 ; create fan 1 on pin out5 and set its frequency M106 P2 C"Board Fan" S0 H4:5:6 T46 ; set fan 1 name and value. Thermostatic control turned on for Hotend M950 F3 C"!out3+out3.tach" Q500 ; Chamber Heater Fan Noctua NF-F12 Industrial M106 P3 C"Chamber Heater Fan" H10 T30 ; S0.3 L0.3 X0.6 B0.1 T30:40 ; set fan 1 name and value. Thermostatic control turned on for Hotend. M950 F4 C"out6" Q500 ; create fan 4 for Water Cooling 12V Fan 4 on pin out4 and set its frequency M106 P4 C"Radiator Cooling Fan" S0 H3 T35 ; set fan 1 name and value. Thermostatic control turned on for liquid cooling hotend M950 F5 C"out4+out4.tach" Q500 ; create fan 4 for Water Cooling 12V Fan 4 on pin out4 and set its frequency M106 P5 C"Liquid Cooling Pump" S0 H3 T20 ; set fan 1 name and value. Thermostatic control turned on for liquid cooling hotend M950 F6 C"!122.out1+out1.tach" Q25000 ;Q500 ; create fan 6 on pin out4 and set its frequency M106 P6 C"T1 Layer Fan" L0.0 X1.0 S0 H-1 B0.1 ; set fan 6 name and value. Thermostatic control is turned off M950 F7 C"122.out2+out2.tach" Q500 ; Fan 7 uses out3, and using out3.tach as a tacho input M106 P7 C"T1 Hotend Fan" S0 H1 T45 ; set fan 7 name and value. Thermostatic control turned on for Hotend ; Tool 0 X Axis M563 P0 D0 H1 F0 S"Mosquito Mag Liquid" ; define tool 0 G10 P0 X0 Y0 Z0 R0 S0 ; set tool 0 axis offsets, set initial tool 0 active 60C and standby temperatures to 0C ; Tool 1 U Axis M563 P1 D1 H3 F6 S"Mosquito Mag Air" ; define tool 0 G10 P1 U0 Y0 Z0 R0 S0 ; set tool 0 axis offsets, set initial tool 0 active 60C and standby temperatures to 0C ;M563 P0 H0 F0 S"Keenevo 600W Bed" ;G10 P0 X0 Y0 Z0 ;G10 P0 R50 S0 ; Z-Probe Inductive Probe ;M558 P5 C"121.io0.in" H5 F400 T5000 ; set Z probe type to unmodulated and the dive height + speeds M558 P8 C"^121.io0.in" H8 F400 T9000 A1 ; S0.01 ; set Z probe type to unmodulated and the dive height + speeds G31 P1000 X-28 Y-20 Z8.85 ; K0 ; set Z probe trigger value, offset and trigger height, more Z means closer to the bed ;; BLTouch ; M950 S0 C"io7.out" ; Create a servo pin on io7 ; M558 P9 C"io7.in" H5 F240 T10800 A5 ; set Z probe type to unmodulated and the dive height + speeds ; G31 P25 X-28.00 Y-13.00 Z0.78 ; set Z probe trigger value, offset and trigger height, more Z means closer to the bed ;Accelerometer M955 P121.0 I16 ;Input Shaper M593 P"zvdd" F44 ; for 10k acceleration ;M593 P"mzv" F42.5 ; for 15k acceleration ;Filament Sensor0 M591 D0 P3 C"121.io1.in" S1 M591 D0 L27 R10:190 ;PanelDue 5i M575 P1 S1 B57600 ;NeoPixels x3 M150 X3 Q4000000 ;R128 U128 B128 P128 S2 F0 M150 X3 R255 U255 B255 W255 P255 S2 F0 ; display led ; Custom settings G29 S1 M572 D0 S0.01; set Pressure Advance K-factor M501 ;M911 S10 R11 P"M913 X0 Y0 G91 M83 G1 Z3 E-5 F1000" ; set voltage thresholds and actions to run on power loss ; init filament sensor error global variables if !exists(global.filamentTimestamp) global filamentCounter = 0 global filamentTimestamp = state.Uptime ; init print time logging if !exists(global.runtime) M98 P"runtime.g" ; init LED variables if !exists(global.warmUp) global warmUp = false ; Select default tool M404 N1.75 ; Define filament diameter for print monitor T0homex.g
M201 X500.00 U500.00 ; Reduce acceleration for homing moves G91 ; Relative positioning G1 H2 Z5 F6000 ; Lift Z relative to current position G1 H1 X-625 F1800 ; Move quickly to X endstop and stop there (first pass) G1 X3 F600 ; Go back a few mm G1 H1 X-625 F360 ; Move slowly to X endstop once more (second pass) G1 H1 U625 F1800 G1 U-3 F600 G1 H1 U625 F360 M201 X3000 U3000 ; Return to full acceleration G1 H2 Z-5 F6000 ; Lower Z relative to current position G90 ; Absolute positioninghomeall.g
; Home X and Y simultaneously G91 ; Relative positioning G1 Z10 F6000 H2 ; Lift Z relative to current position G1 X-999 U999 F4800 H1 ; coarse home X and U G1 X5 U-5 F360 ; move 5mm away from the homing switches G1 X-10 U10 F360 ; fine home X and U G1 Y999 F4800 G1 Y-5 F360 G1 Y10 F360 ;G1 X-999 Y999 F4800 H1 ; Move X and Y-axes to the endstops and stop (first pass) ;G1 X-999 F4800 H1 ; Move X-axis to the endstop and stop (first pass) ;G1 Y999 F4800 H1 ; Move Y-axis to the endstop and stop (first pass) ;G1 X5 Y-5 F360 ; Go back a few mm ;G1 X-999 F360 H1 ; Move X-axis to the endstop once more (second pass) ;G1 Y999 F360 H1 ; Move X-axis to the endstop once more (second pass) G90 ; Absolute positioning M401 ; deploy Z probe (omit if using bltouch) ; Home Z using the Z-Probe M290 R0 S0 ; Reset baby-stepping to 0 G1 X183 Y170 F6000 ; Move T0 to probing point (X150, Y150), including probe offset G30 ; Probe the bed and set Z to the probe offset M402 ; retract probe (omit if using bltouch)homey.g
M201 X500.00 Y500.00 ; Reduce acceleration for homing moves G91 ; Relative positioning G1 H2 Z5 F6000 ; Lift Z relative to current position G1 H1 Y605 F1800 ; Move quickly to Y endstop and stop there (first pass) G1 Y-3 F600 ; Go back a few mm G1 H1 Y605 F360 ; Move slowly to Y endstop once more (second pass) M201 X3000 Y3000 ; Return to full acceleration G1 H2 Z-5 F6000 ; Lower Z relative to current position G90 ; Absolute positioning -
@RogerPodacter said in Dual Markforged Kinematics Setup:
M669 K1 X1:0:0:0 Y1
0:1 Z0:0:1:0 U0:0:0:1; Matrix mapping for Axis - X:Y:Z:Ui solved my issue. maybe this helps someone in the future. i simply changed the Y matrix:
old
M669 K1 X1:0:0:0 Y1:-1:0:1 Z0:0:1:0 U0:0:0:1; Matrix mapping for Axis - X:Y:Z:Unew
M669 K1 X1:0:0:0 Y1:-1:0:-1 Z0:0:1:0 U0:0:0:1; Matrix mapping for Axis - X:Y:Z:U
