Haq XY

dc42

What is weird about the homing? You will need to home like a CoreXY, see the wiki page on configuring RRF for CoreXY.

To add another axis, create a U axis using M584, then use the M669 XYZU parameters to define the matrix you need for the motion. The X, Y, Z etc. parameters of M669 define the rows of the matrix. The rows are the axes, the columns are the motor movements needed to move those axes. Sending M669 without parameters will print the current matrix.

At a guess, if the mechanics of U are similar to X, you would need:

M669 K0 Y1:-1:0:-1

As we started with Cartesian kinematics (K0), any rows you don't specify will just have a 1.0 in the diagonal element.

Haggan90

@dc42 Well, first of all I think both the Y motor and all 3 Z motors are going the wrong way, but thats more my fault I guess but if I just change the positon in the Y/X home files I could get them to home correctly, but its very buggy and somethines everything just freaks out and goes superfast.

So do I need to set the config file to run corexy before I add the M669?

Aha I see!
But, if I run just one of the extruder heads in Y/X, will the second stay at its home position or will it just run diagonally along?

Haggan90

@dc42

Holy crap, I think I got it to work
Btw, if I use M564 S0 H0 and after that tried to home axis, may that interfear with the homing?

M669 K0 Y1:1:0:1 ; set Y to react with X1 and U6

M584 Z2:5 U6 ; set 3 Z drivers and U6 (second extruder head)
M569 P0 S1 ; Drive 0 goes forwards
M569 P1 S0 ; Drive 1 goes backwards
M569 P2 S0 ; Drive 2 goes backwards
M569 P3 S1 ; Drive 3 goes forwards
M569 P4 S1 ; Drive 4 goes forwards
M569 P5 S0 ; Drive 5 goes backwards
M569 P6 S0 ; Drive 6 goes backwards

dc42

I'm glad you got it working.

M564 H0 S0 will not affect the G1 S1 and G1 S2 commands in homing files. It only affects regular G0 and G1 moves.

BTW, are you the author of the post at https://hackaday.io/project/19543-haq-xy/details ?

Haggan90

@dc42 hmm ok.. there's definalty somethubg wrong with my homing then. As I said before, sometimes it works perfect and other times, for example, the Y axis just plunge into the endstop and agter I cant move it.

No the author is Haqnmaq, iv'e talked to him about this project and he was exited as well

I think this could be a really neet solution for a idex printer.

dc42

If you home just X or just Y, does that work reliably?

Haggan90

@dc42 Sometimes. But let's say I manage to home Y, if I then move Y and then tried to home it again it will most likley not work as planned.

dc42

@haggan90 said in Haq XY:

@dc42 Sometimes. But let's say I manage to home Y, if I then move Y and then tried to home it again it will most likley not work as planned.

Do you mean that it sometimes ignores the triggering of the Y endstop switch? Are you certain that you have the X and Y endstop switches connected to the right connectors?

Please post your homey.g file.

Haggan90

@dc42 Yes, but I dont have the endstops for Z and U connected yet so I can't do the homeall.g.

This is the homey.g

G91 ; relative positioning
G1 Z5 F6000 S2 ; lift Z relative to current position
G1 S1 Y555 F1800 ; move quickly to Y axis endstop and stop there (first pass)
G1 Y-10 F1000 ; go back a few mm
G1 S1 Y555 F360 ; move slowly to Y axis endstop once more (second pass)
G1 Z-5 F6000 S2 ; lower Z again
G90 ; absolute positioning

Haggan90

So i've added the endstop to my U axis, and added a homeu.g folder (not sure if I supose to?)
But I can't home U... I have U motor and endstop connected to the duex2.

dc42

Yes you do need a homeu.g file. The U endstop switch must be connected to the E0 endstop input.

Haggan90

@dc42 Ok!
But when I try to home U nothing happends, only Z goes down 5mm and nothing more.

dc42

Have you tested the au endstop? https://duet3d.dozuki.com/Wiki/Connecting_endstop_switches#Section_Test_endstop_switches

Haggan90

@haggan90 Got this fixed now, now homing of U works
But everything is still very buggy.. is there something wrong with my homey.g ?

dc42

"everything is still very buggy" doesn't give me much to go on. Please provide more detail of the fault(s). A video may help. Remember, I don't have a machine with those kinematics to test this on, the best I can do is to configure a Cartesian machine in the same way as yours and try to work out whether the motor movements are correct.

Haggan90

@dc42 yeah I know, I'm sorry.
I very much appriciate all the help you have given me
I will try and do some troubleshooting myself first and if I don't manage to fix it I will post a video!

All in all the movements seems to work great!

One thing, do I need to home every axis the same way? In my case now, the Y homes in +555 and X/U homes in -555? Should I maybe move the endstop for Y to the other side?

dc42

@haggan90 said in Haq XY:

One thing, do I need to home every axis the same way? In my case now, the Y homes in +555 and X/U homes in -555? Should I maybe move the endstop for Y to the other side?

No, you should be able to use those endstop locations just as they are.

I think there may be a problem with the current firmware if you try to home several axes concurrently. What should happen is that if you home two or more of X, Y and U concurrently, the homing move should stop when the first endstop switch is hit. Then you need to finish by homing the axes individually. But I suspect that if you home X and Y together, if the X switch is triggered first then the homing move will not stop.

Haggan90

@dc42 Usually the homing of U and X works good, but when i home Y it just stops when it hits the endstop and then I need to restart the board. I havent tried to home any axes at the same time, only individually.

Simetimes when I try to home X the U axis also moves and plunges in to the endstop...

dc42

Please share your config.g and homing files, then I'll try to replicate those issues.

Haggan90

@dc42
Config.g

; Drives

M669 K0 Y-1:1:0:-1 ; set Y to react with X1 and U6

M584 Z2:5 U6 ; set 3 Z drivers and add one U driver
M569 P0 S1 ; Drive 0 goes forwards
M569 P1 S1 ; Drive 1 goes forwards
M569 P2 S0 ; Drive 2 goes backwards
M569 P3 S1 ; Drive 3 goes forwards
M569 P4 S1 ; Drive 4 goes forwards
M569 P5 S0 ; Drive 5 goes backwards
M569 P6 S0 ; Drive 6 goes backwards

M350 U16 X16 Y16 Z16 E16:16 I1 ; Configure microstepping with interpolation
M92 U80.00 X80.00 Y240.00 Z1066.67 E420.00:420.00 ; Set steps per mm
M566 U900.00 X900.00 Y900.00 Z12.00 E120.00:120.00 ; Set maximum instantaneous speed changes (mm/min)
M203 U10000.00 X10000.00 Y10000.00 Z500.00 E1200.00:1200.00 ; Set maximum speeds (mm/min)
M201 U800.00 X800.00 Y800.00 Z20.00 E250.00:250.00 ; Set accelerations (mm/s^2)
M906 U1000.00 X1000.00 Y1000.00 Z1000.00 E800.00:800.00 I30 ; Set motor currents (mA) and motor idle factor in per cent
M84 S30 ; Set idle timeout

; Axis Limits
M208 U0 X0 Y0 Z0 S1 ; Set axis minima
M208 U500 X500 Y500 Z750 S0 ; Set axis maxima

; Endstops
M574 U0 S0 ; set active low endstops
M574 X1 Y1 S1 ; Set active high endstops

; Z-Probe
M574 X1 Y2 S1 ; X home to min. Y home to max. NC microswitches.
M574 Z1 S2 ; Define Z to use Probe. Home to Min.
M558 P9 H5 F500 T4000 X0 Y0 Z1 ; Set Z probe type/mode 9. Not using on XY, but using it on Z.
G31 P25 X0 Y-57.3 Z0.0 ; Z probe trigger value, offset in relation to nozzle. And trigger height adjustment

; Heaters
M305 P0 T100000 B4138 R4700 ; Set thermistor + ADC parameters for heater 0
M143 H0 S120 ; Set temperature limit for heater 0 to 120C
M305 P1 T100000 B4138 R4700 ; Set thermistor + ADC parameters for heater 1
M143 H1 S280 ; Set temperature limit for heater 1 to 280C

; BLTouch - Heaters
M307 H3 A-1 C-1 D-1 ; Disable the 2nd Heater to free up PWM channel 1 on the Duex board.

; Fans
M106 P0 S0.3 I0 F500 H-1 ; Set fan 0 value, PWM signal inversion and frequency. Thermostatic control is turned off
M106 P1 S1 I0 F500 H1 T45 ; Set fan 1 value, PWM signal inversion and frequency. Thermostatic control is turned on

; Tools
M563 P0 D0 H1 ; Define tool 0
G10 P0 X0 Y0 Z0 ; Set tool 0 axis offsets
G10 P0 R0 S0 ; Set initial tool 0 active and standby temperatures to 0C

homey.g
G91 ; relative positioning
G1 Z5 F6000 S2 ; lift Z relative to current position
G1 S1 Y-550 F1800 ; move quickly to Y axis endstop and stop there (first pass)
G1 Y-10 F1000 ; go back a few mm
G1 S1 Y-550 F360 ; move slowly to Y axis endstop once more (second pass)
G1 Z-5 F6000 S2 ; lower Z again
G90 ; absolute positioning

homex.g
G91 ; relative positioning
G1 Z5 F6000 S2 ; lift Z relative to current position
G1 S1 X-550 F2500 ; move quickly to X axis endstop and stop there (first pass)
G1 X10 F1000 ; go back a few mm
G1 S1 X-550 F660 ; move slowly to X axis endstop once more (second pass)
G1 Z-5 F6000 S2 ; lower Z again
G90 ; absolute positioning

homeu.g
G91 ; relative positioning
G1 Z5 F6000 S2 ; lift Z relative to current position
G1 S1 U-550 F2500 ; move quickly to X axis endstop and stop there (first pass)
G1 U10 F1000 ; go back a few mm
G1 S1 U-550 F660 ; move slowly to X axis endstop once more (second pass)
G1 Z-5 F6000 S2 ; lower Z again
G90 ; absolute positioning