Dual Motor Auto Square and Leveling

Alijambo73

Hi have a DND With 2 Y motors and 2 Z motors on a Duet3 6hc board. I want to be able to make adjustments when homeing to level the Z and Square the Y within the homey.g, homez.g, and home all files.

My under rstanding is that to do this you need to create an axis for each motor.

"M584 X0.0 Y0.1:0.3 Z0.2:0.4 U0.3 V0.4 P3 ; U=Y2 V=Z2 set axis mapping"

I'm not positive that this is needed or if it is that I did it correctly. I have read that you can add M584 Y0.1 P5 to the homeing and this would split the Y axis to make the neccesary adjustments.

Looking for a little guidance on this one and what would need to change in my homez.g, homey.g and hamoeall.g files.

; Smart Drivers
M569 P0.0 S0 D2                    ; driver 0.0 goes backwards (X axis)
M569 P0.1 S0 D2                    ; driver 0.1 goes backwards (Y axis)
M569 P0.2 S1 D2                    ; driver 0.2 goes forwards (Z axis)
M569 P0.3 S1 D2                    ; driver 0.3 goes forwards (U axis)
M569 P0.4 S1 D2                    ; driver 0.4 goes forwards (V axis)

; Motor Idle Current Reduction
M906 I30                           ; set motor current idle factor
M84 S30                            ; set motor current idle timeout

; Axis
M669 K0                            			; set Cartesian kinematics
M584 X0.0 Y0.1:0.3 Z0.2:0.4 U0.3 V0.4 P3  	; U=Y2 V=Z2 set axis mapping
M350 X16 Y16 Z16 U16 V16 I1                 ; configure microstepping with interpolation
M906 X1000 Y1000 Z1000 U1000 V1000          ; set axis driver currents
M92 X100 Y100 Z400 U100 V400                ; configure steps per mm
M566 X60 Y60 Z60 U60 V60                	; set maximum instantaneous speed changes (mm/min)
M203 X12000 Y12000 Z3000 U12000 V3000       ; set maximum speeds (mm/min)
M201 X600 Y600 Z60 U600 V60                 ; set accelerations (mm/s^2)

; Axis Limits
M208 X0 Y0 Z-100 U0 V-100 S1             ; set axis minimum
M208 X1248 Y2470 Z140 U2470 V140 S0      ; set axis maximum

; Kinematics
;M669 K0                            ; configure Cartesian kinematics

; Endstops
M574 X1 S1 P"io1.in"        ; configure active-high endstop for low end on X via pin io2.in
M574 Y1 S1 P"io2.in"        ; configure active-high endstop for low end on Y via pin io2.in
M574 Z2 S1 P"io4.in"        ; configure active-high endstop for high end on Z via pin io4.in
M574 U1 S1 P"io3.in"		; configure active-high endstop for low end on U (Y2) via pin io3.in
M574 V2 S1 P"io5.in"		; configure active-high endstop for high end on V (Z2)via pin io5.in

homeall.g

; homeall.g
; called to home all axes
;
; generated by RepRapFirmware Configuration Tool v3.5.4 on Mon Sep 09 2024 22:47:08 GMT-0600 (Mountain Daylight Time)

; increase Z
G91                                                   ; relative positioning
G1 H2 Z5 F7200                                        ; move Z relative to current position to avoid dragging nozzle over the bed
G90                                                   ; absolute positioning

; home XY
var xTravel = move.axes[0].max - move.axes[0].min + 5 ; calculate how far X can travel plus 5mm
var yTravel = move.axes[1].max - move.axes[1].min + 5 ; calculate how far Y can travel plus 5mm
G91                                                   ; relative positioning
G1 H1 X{-var.xTravel} Y{-var.yTravel} F6000           ; coarse home in the -X and -Y directions
G1 H2 X5 Y5 F7200                                     ; move back 5mm
G1 H1 X{-var.xTravel} Y{-var.yTravel} F300            ; fine home in the -X and -Y directions
G90                                                   ; absolute positioning

; home Z
var zTravel = move.axes[2].max - move.axes[2].min + 5 ; calculate how far Z can travel plus 5mm
G91                                                   ; relative positioning
G1 H1 Z{var.zTravel} F600                             ; coarse home in the -Z direction
G1 H2 Z5 F6000                                        ; move back 5mm
G1 H1 Z-10 F300                                       ; fine home in the -Z direction
G90                                                   ; absolute positioning
G1 H0 Z130                                               ;move z down 10mm

homey.g

; homey.g
; called to home the Y axis
;
; generated by RepRapFirmware Configuration Tool v3.5.4 on Mon Sep 09 2024 22:47:08 GMT-0600 (Mountain Daylight Time)

; increase Z
G91 ; relative positioning
G1 H2 Z5 ; move Z relative to current position to avoid dragging nozzle over the bed
G90 ; absolute positioning

; home Y
G91 ; relative positioning
var maxTravel = move.axes[1].max - move.axes[1].min + 5 ; calculate how far Y can travel plus 5mm
G1 H1 Y{-var.maxTravel} F6000 ; coarse home in the -Y direction
G1 Y5 F7200 ; move back 5mm
G1 H1 Y{-var.maxTravel} F300 ; fine home in the -Y direction
G90 ; absolute positioning

; decrease Z again
G91 ; relative positioning
G1 H2 Z-5 F7200 ; move Z relative to current position
G90 ; absolute positioning

homez,g

; home Z
 
G91                                                     ; relative positioning
var maxTravel = move.axes[2].max - move.axes[2].min + 5 ; calculate how far Z can travel plus 5mm
G1 H1 Z{var.maxTravel} F1000                            ; coarse home in the +Z direction
G1 Z-5 F6000                                            ; move back 5mm
G1 H1 Z{var.maxTravel} F300                             ; fine home in the +Z direction
G90                                                     ; absolute positioning
G1 H0 Z130                                              ; move z down 10mm

Thanks

droftarts

@Alijambo73 Currently there isn't a way to define a different endstop position for each driver in an axis, though there is a feature request to do this: https://github.com/Duet3D/RepRapFirmware/issues/627

This means you have to do it the 'old fashioned' way, by splitting the axes. See the 'In RepRapFirmware 2.x' tab here: https://docs.duet3d.com/en/User_manual/Connecting_hardware/Z_probe_auto_levelling#axis-levelling-using-endstops

In that example, in the last step "Step 4: Edit your homez.g" you can add a move to square your axes. Note this refers to the Z axis, but can be any axis. eg:

...
; Move Z and U  down until the switches triggers
G1 H1 Z-205 U-205 F1000

; Add move to square axis, can be Z or U
G1 H2 U-1

; back to combined axes and hidden U
M584 Z2:3 P3
...

Ian

T3P3 created this issue in Duet3D/RepRapFirmware

open Different endstop position for each driver in an axis #627

Alijambo73

@droftarts Thanks for the reply. I treid this but I'm having endtop issues.

If I have the drivers set like this:
; Smart Drivers
M569 P0.0 S0 D2 ; driver 0.0 goes backwards (X axis)
M569 P0.1 S0 D2 ; driver 0.1 goes backwards (Y axis)
M569 P0.2 S1 D2 ; driver 0.2 goes forwards (Z axis)
M569 P0.3 S1 D2 ; driver 0.3 goes forwards (U or Y2 axis)
M569 P0.4 S1 D2 ; driver 0.4 goes forwards (V axis)

and Axis like this:
M584 X0.0 Y0.1:0.3 Z0.2:0.4 U0.3 V0.4 P3 ; U=Y2 V=Z2 set axis mapping

If I have my enstops configured like this:
; Endstops
M574 X1 S1 P"io1.in" ; configure active-high endstop for low end on X via pin io2.in
M574 Y1 S1 P"io2.in" ; configure active-high endstop for low end on Y via pin io2.in
M574 Z2 S1 P"io4.in" ; configure active-high endstop for high end on Z via pin io4.in
M574 U1 S1 P"io3.in" ; configure active-high endstop for low end on U (Y2) via pin io3.in
M574 V2 S1 P"io5.in" ; configure active-high endstop for high end on V (Z2)via pin io5.in
Then the U and V don't work. I can see them triggering correctly in the endsop monitor for U and V axis but when they are triggered during homeing they don't stop the motor when triggered.

So I tried this:
; Endstops
M574 X1 S1 P"io1.in" ; configure X axis endstop via pin io1.in
M574 Y1 S1 P"io2.in+io3.in" ; configure active-high endstop for low end on Y via pin io2.in + io3.in
M574 Z2 S1 P"io4.in+io5.in" ; configure active-high endstop for high end on Z via pin io4.in + io5.in"
But then they work they are combined on the same axis but I get "Error: Failed to enable endstops"

code; homey.g
; called to home the Y axis
;
; generated by RepRapFirmware Configuration Tool v3.5.4 on Mon Sep 09 2024 22:47:08 GMT-0600 (Mountain Daylight Time)

; increase Z
G91 ; relative positioning
G1 H2 Z5 ; move Z relative to current position to avoid dragging nozzle over the bed
G90 ; absolute positioning

; home Y
G91 ; relative positioning
var maxTravel = move.axes[1].max - move.axes[1].min + 5 ; calculate how far Y can travel plus 5mm
G1 H1 Y{-var.maxTravel} F6000 ; coarse home in the -Y direction
G1 Y5 F7200 ; move back 5mm
G1 H1 Y{-var.maxTravel} F300 ; fine home in the -Y direction
G90 ; absolute positioning

; decrease Z again
G91 ; relative positioning
G1 H2 Z-5 F7200 ; move Z relative to current position
G90 ; absolute positioning


M584 Z0.1 U0.3 P5                                       ; split Z motor control to Z and V and show U (param P5) in the UI
G1 H1 Z-205 U-205 F1000                                   ; Move Z and V down until the switches triggers
G1 H2 U3.175                                           ; Add move to square axis, can be Z or U
M584 Z0.2:0.4 P3                                        ; back to combined axes and hidden U_text

; home Z
 
G91                                                     ; relative positioning
var maxTravel = move.axes[2].max - move.axes[2].min + 5 ; calculate how far Z can travel plus 5mm
G1 H1 Z{var.maxTravel} F1000                            ; coarse home in the +Z direction
G1 Z-5 F6000                                            ; move back 5mm
G1 H1 Z{var.maxTravel} F300                             ; fine home in the +Z direction
G90                                                     ; absolute positioning
G1 H0 Z130                                              ; move z down 10mm


M584 Z0.2 V0.4 P5                                       ; split Z motor control to Z and V and show V (param P5) in the UI
G1 H1 Z205 V205 F1000                                   ; Move Z and V down until the switches triggers
G1 H2 V-1.014                                           ; Add move to square axis, can be Z or V
M584 Z0.2:0.4 P3                                        ; back to combined axes and hidden V

How should the end stops be configured and are the homez.g and homey.g seup correctly?
Thanks

droftarts

@Alijambo73 Note: your homey.g is wrong. When you split the axis, you have put Z in. You want Y and U, not Z and U. I'm basing the example below on homez.g.

Your endstops can be configured where and when they are needed; they don't have to be defined only in config.g and then not defined again. Also, you don't need to re-home the Z and U axes after you have homed them as a combined Z, you just need to give U it's position with G92, then apply the adjustment. So there's a few ways to do this.

Probably easiest is to keep the config.g as:

 ; Endstops
M574 X1 S1 P"io1.in" ; configure X axis endstop via pin io1.in
M574 Y1 S1 P"io2.in+io3.in" ; configure active-high endstop for low end on Y via pin io2.in + io3.in
M574 Z2 S1 P"io4.in+io5.in" ; configure active-high endstop for high end on Z via pin io4.in + io5.in"

Then home Z normally. After that, change the last section of homez.g to:

M584 Z0.2 V0.4 P5 ; split Z motor control to Z and V and show V (param P5) in the UI
G92 V130          ; Set V axis to the same as the Z axis
G1 H2 V-1.014     ; Add move to square axis, can be Z or V
G92 V130          ; Probably easiest to set V back to the same value as the Z axis
M584 Z0.2:0.4 P3  ; back to combined axes and hidden V

For Y, make sure you use the correct axis labels! so something like:

M584 Y0.1 U0.3 P5 ; split Y motor control to Y and U and show U (param P5) in the UI
G92 U0            ; Set U axis to the same as the Y axis
G1 H2 U3.175      ; Add move to square axis, can be Y or U
G92 U0            ; Probably easiest to set U back to the same value as the Y axis
M584 Z0.2:0.4 P3  ; back to combined axes and hidden U

I haven't tested this, so use with caution!

Ian

Alijambo73

@droftarts Thanks. I actually just got it working in a similar way. I probably have a few extra steps but here is what I have as of now.

 home Z
 
G91                                                     ; relative positioning
var maxTravel = move.axes[2].max - move.axes[2].min + 5 ; calculate how far Z can travel plus 5mm
G1 H1 Z{var.maxTravel} F1000                            ; coarse home in the +Z direction
G1 Z-5 F6000                                            ; move back 5mm
G1 H1 Z{var.maxTravel} F300                             ; fine home in the +Z direction
;G90                                                     ; absolute positioning
;G1 H0 Z130                                              ; move z down 10mm


M584 Z0.2 V0.4 P5                                       ; split Z motor control to Z and V and show V (param P5) in the UI
G1 H1 Z140 V140 F500                                    ; Move Z and V down until the switches triggers
G92 V0
G1 H0 V-2.184 F1                                      ; Add move to square axis, can be Z or V
G92 V140
M584 Z0.2:0.4 P3                                        ; back to combined axes and hidden V
G90                                                     ; absolute positioning
G1 H0 Z130 F1000                                             ; move z down 10mm

and

 homey.g
; called to home the Y axis
;
; generated by RepRapFirmware Configuration Tool v3.5.4 on Mon Sep 09 2024 22:47:08 GMT-0600 (Mountain Daylight Time)

; increase Z
G91 ; relative positioning
G1 H2 Z5 ; move Z relative to current position to avoid dragging nozzle over the bed
G90 ; absolute positioning

; home Y
G91 ; relative positioning
var maxTravel = move.axes[1].max - move.axes[1].min + 5 ; calculate how far Y can travel plus 5mm
G1 H1 Y{-var.maxTravel} F6000 ; coarse home in the -Y direction
G1 Y5 F7200 ; move back 5mm
G1 H1 Y{-var.maxTravel} F300 ; fine home in the -Y direction
G90 ; absolute positioning

; decrease Z again
G91 ; relative positioning
G1 H2 Z-5 F7200 ; move Z relative to current position
G90 ; absolute positioning


M584 Y0.1 U0.3 P5                                       ; split Y motor control to Y and V and show U (param P5) in the UI
G1 H1 Y-205 U-205 F1000                                   ; Move Y and U down until the switches triggers
;G92 Y0
G1 H0 Y5.175 F100                                          ; Add move to square axis, can be Y or U
G92 Y0
M584 Y0.1:0.3 P3                                        ; back to combined axes and hidden U
G90

I think I will leave it as is for now unless you see anything that will cause me problems.

Can I just add the additions to the end of my home all file?

Thank you for the help.

droftarts

@Alijambo73 How did you define the endstops? Because you're homing Z once together, then individually (same for Y). Usually you would need to redefine the endstops between them, or you get the "Error: Failed to enable endstops" message, eg have this at the beginning of homez.g

 M574 Z2 S1 P"io4.in+io5.in" ; configure active-high endstop for high end on Z via pin io4.in + io5.in"

then when you split the axes, redefine as:

M574 Z2 S1 P"io4.in" ; configure active-high endstop for high end on Z via pin io4.in
M574 V2 S1 P"io5.in" ; configure active-high endstop for high end on V (Z2)via pin io5.in

It takes a few less homing movements if you do it the way I suggested.

Ian

Alijambo73

@droftarts So I changed my config.g to this

; Endstops
M574 X1 S1 P"io1.in"                     ; configure active-high endstop for low end on X via pin io2.in
M574 Y1 S1 P"io2.in+io3.in"                     ; configure active-high endstop for low end on Y via pin io2.in
M574 Z2 S1 P"io4.in+io5.in"                     ; configure active-high endstop for high end on Z via pin io4.in

and my homez to this

; home Z
 
G91                                                     ; relative positioning
;var maxTravel = move.axes[2].max - move.axes[2].min + 5 ; calculate how far Z can travel plus 5mm
;G1 H1 Z{var.maxTravel} F1000                            ; coarse home in the +Z direction
;G1 Z-5 F6000                                            ; move back 5mm
;G1 H1 Z{var.maxTravel} F300                             ; fine home in the +Z direction
;G90                                                     ; absolute positioning
;G1 H0 Z130                                              ; move z down 10mm

; level Z
M584 Z0.2 V0.4 P5                                       ; split Z motor control to Z and V and show V (param P5) in the UI
M547 Z2 S1 P"io4.in"
M547 V2 S1 P"io5.in"
G1 H1 Z140 V140 F500                                    ; Move Z and V down until the switches triggers
G92 V0                                                  ; set V to 140
G1 H0 V-1.7 F1                                        ; Add move to square axis, can be Z or V
G92 Z140 V140                                                ; set V to 140
M584 Z0.2:0.4 P3                                        ; back to combined axes and hidden V
M574 Z2 S1 P"io4.in+io5.in"
G90                                                     ; absolute positioning
G1 H0 Z130 F1000                                        ; move z down 10mm

This leads to "Warning: M547: Command is not supported" and "Error: in file macro line 15: G1: Failed to enable endstops"

in the link https://docs.duet3d.com/en/User_manual/Connecting_hardware/Z_probe_auto_levelling#axis-levelling-using-endstops It has the endstops configured one per axis and doesn't reference them at all in the home z example. My U and V endstops were not triggering the corresponding drivers to stop so changing the config g solved that.

Let me know if you can see what I'm missing with the endstops in my home z file.

Thanks

Alijambo73

@droftarts As of now this is what I have in my config.g

M584 X0.0 Y0.1:0.3 Z0.2:0.4 U0.3 V0.4 P3 ; U=Y2 V=Z2 set axis mapping

; Endstops
M574 X1 S1 P"io1.in"                     ; configure active-high endstop for low end on X via pin io2.in
M574 Y1 S1 P"io2.in+io3.in"                     ; configure active-high endstop for low end on Y via pin io2.in
M574 Z2 S1 P"io4.in+io5.in"                     ; configure active-high endstop for high end on Z via pin io4.in

and in my homez.g

; home Z

M574 Z2 S1 P"io4.in+io5.in"                     ; configure active-high endstop for high end on Z via pin io4.in
G91                                                     ; relative positioning
;var maxTravel = move.axes[2].max - move.axes[2].min + 5 ; calculate how far Z can travel plus 5mm
;G1 H1 Z{var.maxTravel} F1000                            ; coarse home in the +Z direction
;G1 Z-5 F6000                                            ; move back 5mm
;G1 H1 Z{var.maxTravel} F300                             ; fine home in the +Z direction
;G90                                                     ; absolute positioning
;G1 H0 Z130                                              ; move z down 10mm

; level Z
M584 Z0.2 V0.4 P5                                       ; split Z motor control to Z and V and show V (param P5) in the UI
M547 Z2 S1 P"io4.in"
M547 V2 S1 P"io5.in"
G1 H1 Z140 V140 F500                                    ; Move Z and V down until the switches triggers
G92 V0                                                  ; set V to 140
G1 H0 V-1.7 F1                                        ; Add move to square axis, can be Z or V
G92 Z140 V140                                                ; set V to 140
M584 Z0.2:0.4 P3                                        ; back to combined axes and hidden V
M574 Z2 S1 P"io4.in+io5.in"
G90                                                     ; absolute positioning
G1 H0 Z130 F1000                                        ; move z down 10mm

After reading a little closer i realized i miss the point of adding M574 Z2 S1 P"io4.in+io5.in" in the begining of homez.g. I still get the error "Failed to enable endstops" error.

Phaedrux

@Alijambo73 said in Dual Motor Auto Square and Leveling:

M547 Z2 S1 P"io4.in"
M547 V2 S1 P"io5.in"

You have M547 instead of 574

Alijambo73

@Phaedrux Wow, I can't believe I missed that. Everything seems to be working perfectly now.

Thank you for all the help.