Firmware 3.4.5 axis mapping bug

o_lampe

@kazolar
The only difference I know off between UVW and A axes is: that ABC axes are rotary axes by default and you have to change that in your config.

kazolar

@o_lampe I set up all axis to be linear
M584 Y0.5:0.0 R0
M584 U0.4:0.1 R0
M584 X0.2 R0
M584 V0.3 R0
M584 W2.0 R0
M584 A1.0 R0
M584 Z2.2:2.1:1.2:1.1 R0
M584 E101.0:102.0:103.0:104.0 R0
And after A axis is homed, when I tell it to go to center it goes from -34.7 to 299.4 in a micro-move -- basically instantly.

Also this was not an issue prior to 3.4.5, it was working fine with 3.4.1, and rotary mapping was introduced earlier.

Phaedrux

Can you share your full config.g?

kazolar

@Phaedrux config.g

dc42

@kazolar does it work if you downgrade to RRF version 3.4.4 ? Which Duet are you using?

dc42

@kazolar if this issue is occurring on a Duet 3 Mini5+, please see https://forum.duet3d.com/post/302699.

kazolar

@dc42 I finally got around to re-testing this. I downgraded to 3.4.2 (that was the major release I found quickly with all the web archives)
The problem went away, I was re-calibrating the machine and switching to 9mm belts and to mechanical switches to replace optical switches (my own experiment trying to find repeatable calibration, unrelated to the issue), so took a while to test again. The calibration process is adjusting UVWA axis home positions to match XY coordinate space. Now all is put back together. Am on 3.4.2 -- all works fine. I did a couple of rounds of homing A and then re-issuing G1 command with X Y coordinate for the toolhead A is mapped to, and it works properly. My config is duet3 6HC, 2 EXP3HC, and 4 toolboards. A axis is on the 1st expansion board. W axis is on the 2nd expansion board, 3.4.5 had no issue with UVW axis, but had a problem with A axis. 3.4.2 works fine now.

T3P3Tony

@kazolar It would be helpful to us if you could try with the updated 3.4.5 version that dc42 described in this thread:

https://forum.duet3d.com/topic/30814/homing-issues-with-rrf-3-4-5-on-duet-3-mini?_=1673273623319

It would be good to confirm that the issue in 3.4.5 is resolved now for you. Thanks!

kazolar

@T3P3Tony sorry it took me a while to test, but the problem persists with the updated 3.4.5
Command is switch to tool 4 --
T3
issue G1
G1 X300 Y300 -- toolhead goes to the correct location
G28 A -- home the assigned X
toolhead homes -- this is not the issue
G1 X300 Y300 -- toolhead doesn't come back to X300 -- this is the problem

PS I downgraded to 3.4.4 -- Same issue.
I kept going back -- I ended up going back to 3.4.0 until the problem went away

dc42

@kazolar you seem to have inconsistent results, you reported first tat reverting to 3.4.2 solved the problem and later that you had to revert to 3.4.0.

I suspect this issue has nothing to do with firmware versions, but instead depends on conditions when you power up the printer. Please use M122 B# to get the firmware and bootloader details of each expansion board, where # is the CAN address of the board. If any of the expansion boards have old bootloader versions, I suggest you update them to version 2.4.

kazolar

@dc42 yes bootloader is 2.3 -- I expected that it would get updated during the various firmware updates I preformed, didn't even occur to check. Will update now and try latest firmware

kazolar

@dc42 I did the full test during lunch. Can confirm now I am on the 2.4 bootloader.
Here is the gcode

G28
G32
T0
G1 X300 Y300 F20000
T3
G1 X300 Y300 F20000
G28 A
G1 X300 Y300 F20000

Last line is where A doesn't go to 300 it makes a little squeak and says it went there. Note A in all cases in DWC shows home position -34.7, even when it's being operated by T3.
3.4.5 didn't work for me, I went backwards in order 3.4.4, 3.4.2, 3.4.0 -- power cycling after each complete flash. Only 3.4.0 worked and the last gcode line moved the toolhead to X300.
I tried upgrading from 3.4.0 to 3.4.2 -- and same result, last line didn't work. I reverted to 3.4.0. And it works again.

here is homea.g in case it's remotely helpful
G91
G1 A-700 F6000 H1
G1 A3 F500 H2
G1 A-10 F300 H1
G1 A0.2 F3000 H2
G90

here are tool definitions
M563 P0 D0 H1 F0 ; Define tool 0 to use extruder drive 0 and heater 1
M563 P1 D1 H2 X4 F2
M563 P2 D2 H3 Y3 X5 F4
M563 P3 D3 H4 Y3 X6 F6

note this is only a problem with A axis, UVW which represent my other mapped axis do not have this issue -- so in the gcode above I can replace T3 with T1 or T2 and replace A with U V or W and the last line will work fine.

kazolar

@dc42 I installed 3.5 beta 2. The problem appears to have been fixed.

dc42

@kazolar thanks for confirming this.

kazolar

@dc42 hopefully you know what changes made it work now.