Delta + linear Z tracking axis?

Quadcells

@Quadcells
I connect my 4th tower stepper to E1.
Connected the 4th tower endstop to E1 stop.
Added all lines of code for the 4th tower in confi.g.
Added lines of code for the 4th tower in homedelta.g

Nothing happened, the 4th stepper did move or make any noise. I must be missing something along the way. I will re-check again.

below is some config.g and homedelta.g code:

config.g:
M665 R244.500 L400.970:400.970:400.970:8019.4 B150.0 H448.37 X-0.072 Y0.021 Z0.000 ; Set delta radius, diagonal rod length, printable radius and homed height,4th rod length for camera is 20x more XYZ
M669 X0 Y0 ; specify the XY offsets of the extruder outputs on additional towers relative to machine centre. It may work without, but if in doubt I suggest you use X0 Y0.
M666 X-0.34 Y-0.31 Z0.66 tilt X0.00 Y0.00 ; Put your endstop adjustments here, or let auto calibration find them
; Drives
M584 X0 Y1 Z2 U4 E3 ; U4 is the 4th tower axis which is E1 stepper driver on the Duet Wifi board
M569 P0 S0 ; Drive 0 goes forwards, X tower stepper
M569 P1 S0 ; Drive 1 goes forwards, y tower stepper
M569 P2 S0 ; Drive 2 goes forwards, Z tower stepper
M569 P3 S0 ; Drive 3 goes forwards, E0 stepper
M569 P4 S0 ; Drive 4 goes forwards, 4th tower stepper
M350 X16 Y16 Z16 U16 E16 I1 ; Configure microstepping with interpolation
M92 X200 Y200 Z200 U200 E2787 ; Set steps per mm
M566 X1200 Y1200 Z1200 E40 ; Set maximum instantaneous speed changes (mm/min)
M203 X18000 Y18000 Z18000 E1200 ; Set maximum speeds (mm/min)
M201 X1000 Y1000 Z1000 E120 ; Set accelerations (mm/s^2)
M906 X1600 Y1600 Z1600 U1600 E500 I40 ; Set motor currents (mA) and motor idle factor in per cent
M84 S30 ; Set idle timeout
; Endstops
M574 X2 Y2 Z2 U2 S1 ; Set active low endstops
M558 P5 R0.4 X0 Y0 Z0 H10 F1000 T6000 ; Set Z probe type to effector, the axes for which it is used and the dive height + speeds
G31 P100 X0 Y0 Z-0.333 ; Set Z probe trigger value, offset and trigger height
M557 R105 S20 ; Define mesh grid

homedelta.g:
;*** Slow homing has been configured. Change F180 to F1800 below when your configuration is working
G1 S1 X450 Y450 Z450 U450 F1400 ; move all towers to the high end stopping at the endstops (first pass)
G1 X-5 Y-5 Z-5 U-5 F1800 S2 ; go down a few mm
;*** Slow homing has been configured. Change F180 to F360 below when your configuration is working
G1 S1 X10 Y10 Z10 U10 F360 ; move all towers up once more (second pass)
G1 Z-5 F6000 ; move down a few mm so that the nozzle can be centred
G90 ; absolute positioning
G1 X0 Y0 F6000 ; move X+Y to the centre

dc42

You may need to put the M584 command before the M665 command, so that the U axis already exists when you specify the length of the rod to the U tower.

Quadcells

Thanks for you reply and suggestion.
Now U shows up under "Machine Movement" and I can move the carriage up and down via the controls on DWC and PanelDue, but only 200mm. When I run "Home All" only XYZ carriages move like they should, not U. I have changed the rod length down to 800 from 8000 but still nothing.
Gonna do more reading and testing and see where I went wrong.

dc42

Your homedelta.g file should have G91 as the first command.

You will need to hide the U axis under normal conditions using M584 P3, and un-hide it during homing.

Quadcells

@dc42 G91 is the first command in homedelta.g, I just didn't include it on my post.
When I get home later today i will hide the U axis and un-hide it during homing.
Does that mean I un-hide the U axis in the homedelta.g file?

Quadcells

Ok I just read that M584 P4 should be at the top of my homedelta.g file. Should that be before or after G91.

Quadcells

Is this how it should be?

config.g:
This
M584 X0 Y1 Z2 U4 P3 E3
or this
M584 X0 Y1 Z2 U4 E3
M584 U4 P3

Also does G10 need U:
G10 P0 X0 Y0 Z0 U0

and
homedelta.g:
G91
M584 U4 P4

thanks again for your help.

droftarts

@Quadcells said in Delta + linear Z tracking axis?:

M584 X0 Y1 Z2 U4 P3 E3

This, though I'd actually rewrite it M584 X0 Y1 Z2 U4 E3 P3. The P3 means "show the first three defined axes (excluding extruders)".

Also does G10 need U:
G10 P0 X0 Y0 Z0 U0

I'm not sure of the effect of setting this, probably fine.

homedelta.g:
G91
M584 U4 P4

This can just be M584 P4. You'll need M584 P3 at the end to hide the U axis again.

M666 X-0.34 Y-0.31 Z0.66 tilt X0.00 Y0.00

This is incorrectly formatted. See M666. Format is M666 Xnnn Ynnn Znnn Annn Bnnn

Ian

Quadcells

@droftarts
thank you Ian.
I'll try it out and report back with the results. Hopefully tonight.

Quadcells

M666 X-0.34 Y-0.31 Z0.66 tilt X0.00 Y0.00

This is incorrectly formatted. See M666. Format is M666 Xnnn Ynnn Znnn Annn Bnnn

Ian

That's strange. It has been that way since I made this file using the configuration tool 2 years ago.
But I will change it after reading.

Quadcells

@Quadcells said in Delta + linear Z tracking axis?:

M666 X-0.34 Y-0.31 Z0.66 tilt X0.00 Y0.00

This is incorrectly formatted. See M666. Format is M666 Xnnn Ynnn Znnn Annn Bnnn

Ian

That's strange. It has been that way since I made this file using the configuration tool 2 years ago.
But I will change it after reading.

but the config-override.g has it correct:)

Quadcells

All working now. Camera axis tracks the effector's Z.
I have to re-print my camera carriage as the camera is too close to the effector when I run G32.

Thanks for all your help.

Quadcells

I should be back home on Sunday and I will put together a short video show it in action.

dc42

@Quadcells said in Delta + linear Z tracking axis?:

I should be back home on Sunday and I will put together a short video show it in action.

Looking forward to seeing it!

deckingman

@Quadcells I'd be interested to know what camera you are using.

Quadcells

@deckingman said in Delta + linear Z tracking axis?:

@Quadcells I'd be interested to know what camera you are using.

I use WYZE, I have one on each of my printers. I also use them all over my house looking outside. Inexpensive and work great. Maybe a little big but for the price it's great.

Quadcells

Sorry it took so long to get you this video of the camera tracking the hotend:
https://youtu.be/NWMInhy16rM

veryevil

@Quadcells that is absolutely amazing! Exactly what I was after. Could you put up you final config changes that made it work?

I've got a lot more work on my printer before I get to this mod and not a lot of free time but this has to happen!

Thanks

Quadcells

@veryevil Surething. I meant to post it but didn't get to it. I see if I can post the config.g tonight when I get back home.

Quadcells

Here are part of my config.g that relate to the 4th axis:
M584 X0 Y1 Z2 U4 E3 P3 ; U4 is the 4th tower axis which is E1 stepper driver on the Duet Wifi
M665 R244.500 L400.970:400.970:400.970:8019.4 B150.0 H448.37 X-0.072 Y0.021 Z0.000
M669 X0 Y0
M666 X-0.34 Y-0.31 Z0.66 A0.00 B0.00
;Drives
M569 P0 S0 ; Drive 0 goes forwards, X tower stepper
M569 P1 S0 ; Drive 1 goes forwards, y tower stepper
M569 P2 S0 ; Drive 2 goes forwards, Z tower stepper
M569 P3 S0 ; Drive 3 goes forwards, E0 stepper
M569 P4 S0 ; Drive 4 goes forwards, 4th tower stepper
M350 X16 Y16 Z16 U16 E16 I1 ; Configure microstepping with interpolation
M92 X200 Y200 Z200 U200 E2787 ; Set steps per mm
M566 X1200 Y1200 Z1200 U1200 E40 ; Set maximum instantaneous speed changes (mm/min)
M203 X18000 Y18000 Z18000 U18000 E1200 ; Set maximum speeds (mm/min)
M201 X1000 Y1000 Z1000 U1000 E120 ; Set accelerations (mm/s^2)
M906 X1600 Y1600 Z1600 U1400 E500 I40 ; Set motor currents (mA) and motor idle factor in per cent
M84 S30 ; Set idle timeout

; Endstops
M574 X2 Y2 Z2 U2 S1 ; Set active low endstops

;Tools
G10 P0 X0 Y0 Z0 U0 ; Set tool 0 axis offsets

M500

Config-override.g lines of code related to the 4th axis:
M665 L400.970:400.970:400.970:8019.400 R244.529 H447.421 B150.0 X0.044 Y-0.103 Z0.000

homedelta.g:
G91 ; relative positioning
M584 P4 ;unhide U4
;*** Slow homing has been configured. Change F180 to F1800 below when your configuration is working
G1 S1 X450 Y450 Z450 U450 F1400 ; move all towers to the high end stopping at the endstops (first pass)
G1 X-5 Y-5 Z-5 U-5 F1800 S2 ; go down a few mm
;*** Slow homing has been configured. Change F180 to F360 below when your configuration is working
G1 S1 X10 Y10 Z10 U10 F360 ; move all towers up once more (second pass)
G1 Z-5 F6000 ; move down a few mm so that the nozzle can be centred
G90 ; absolute positioning
G1 X0 Y0 F6000 ; move X+Y to the centre
M584 P3 ; hide U4

I believe that's it.
4th axis rod length is 20 times that of XYZ. I haven't tried changing it.