Collision Avoidance Axis Order Issue [3.6.0.rc1]

dwuk3d

I have a Dual Gantry printer based currently on CoreXYUV.

In my design the Y AXIS is currently at the front of the machine, and the V AXIS at the back.

Therefore the Y AXIS has lower coordinate values than the V AXIS.

I am trying to get M597 to work - I was expecting to be able to specify M597 Y0 V100 for example

But when I do this I get the following output.
05/03/2025, 07:29:02 M597 Y0 V100
05/03/2025, 07:29:05 M597
Collision avoidance is not active

M597 only seems to accept values where Y is greater than V - such as:
05/03/2025, 07:30:38 M597 Y100 V0
05/03/2025, 07:30:41 M597
For collision avoidance, axis Y position must be at least 100.0mm higher than axis V

Am I going to have to swap my gantries around to make this work - or is there a way that I can specify that the V axis position must be at least 100mm higher than the Y AXIS?

NB/. The same behaviour occurs on 3.5.4 and 3.6.0.rc1

dc42

@dwuk3d I confirm this is a bug. Which Duet are you using?

dwuk3d

@dc42 Duet3 6HC as the main board, Duet 3 Mini5+ as the expansion board.

dc42

@dwuk3d please try the new rc4+1 build at https://www.dropbox.com/scl/fo/0xdvvzgqfrs5abyk75ss8/AL3i6s7z9UacEGYsxiR7pXw?rlkey=xpm61w2jlyqlawwjzy4zsq2lt&dl=0.

dwuk3d

@dc42 Thanks - that seems to work ok in single motion system mode - I have been able to set the V axis to not come within 100mm of the Y axis which is exactly what I need.

I can't test it in multi motion system mode due M400 and M598 not releasing drives - which still seems to still occur in the new rc1+1 version you sent. - see https://forum.duet3d.com/topic/36866/multiple-motion-system/64?_=1741362599789