Hello David,
My simplified kinematics
http://www.openhardware.eu/tmp/scara-kinematics.png
With M564 S0 G1 the red area is not accessible.
G1 The orange area does not make straight lines.
G1 only the green area is normally accessible with M564 S0...
I have 1/3 of the surface of the bed that is not accessible ...
if I do the same thing with version 1.21RC3
I move well in a straight line ...
I just tested
I have about an area of X60 Y300 that does not seem usable with the new firmware
While nothing can stop you from reaching this area ...
after M564 S0
if I move in G1 X100
and that after I made a G1 Y300 there I have a straight line with the new firmware
I read again tomorrow, not having understood everything ...
Example M564 S0 then G1 X60 then I made a G1 Y300, it does not make a straight line, in the center it makes a curve ...
Tests...
Unlock
M564 S0
G1 Y300
ok
g1 x10
ok
g1 x0
ok
G1 Y0
Error: G1/G2/G3: intermediate position outside machine limits
rehoming
g28
ok
g1 x300
ok
g1 x100
ok
g1 x30
ok
g1 x20
no error but not move ...
Apparently impossible to move X below 30?
humm ... I can not do anything good (humm google translate sorry ...)
G0 X0 the arm went upside down and blew the belt
I repair the mechanics: p
Files are just on post from above:
https://forum.duet3d.com/topic/8155/firmware-2-02rc6-released/17
Files:
config.g http://dl.free.fr/j7UVd31UF
homeall.g http://dl.free.fr/usibxoSpf (hominig error on "G1 Z10 F250" if i remove no errors)
HiDavid,
if I execute this macro file:
G28
G91
G1 S2 Y1.0 F2500
G90 ;Absolute Positioning
G1 Y10 F2500
Return:
M98 P"0:/macros/test" Error: G1/G2/G3: intermediate position outside machine limits
homing ok, movements in S2 ok,
but the command G1 is not executed
and after more nothing answers
no more absolute or relative displacements ? ...
if I run a G28 I can move again in relative movements
but not in absolute movements ...
Hi David,
Very strange behavior if I use G1 S2 after homing ...
Example with G1 S2 X1.0 F2000
the arm moves to X: -19.66 Y: 279.36 (while the homing position is X: 30.84 Y: 51.59)
After I send:
G1 X10 F2500
Do not move and forward error:
G1 X10 F2500
Error: G1 / G2 / G3: Intermediate position outside machine limits
The Homing position is inside the bed, (Homing: X: 30.84 Y: 51.59)
the problem would not be there?
Hi David,
yes same problem,
now homing is ok
G28 no longer returns errors 
But move absolute return error ...
Test Firmware Version: 2.02RC7(RTOS) (2018-12-22b2):
G28
G90 ;Absolute Positioning
G1 X0 F2500
Return error: 15:40:30 M98 P"0:/macros/test" Error: G1/G2/G3: intermediate position outside machine limits Error: G1/G2/G3: intermediate position outside machine limits
all movements in absolute mode return an error x/y/z...
My config and homing files:
config.g http://dl.free.fr/j7UVd31UF
homeall.g http://dl.free.fr/usibxoSpf (hominig error on "G1 Z10 F250" if i remove no errors)
Reminder everything works perfectly with 1.21RC3
Hi David,
Same problem for me with 2-02rc6 on my Scara
https://forum.duet3d.com/topic/8155/firmware-2-02rc6-released/5
Hi David
in progress with my Scara 
Homing ok
Test print prtial ok
print ok but in relative position compared to homing
After print i test this macro file content to debug:
G28
G90 ;Absolute Positioning
G1 X150 Y150 F2500路路路路
Return error on G1: M98 P"0:/macros/test" Error: G1/G2/G3: intermediate position outside machine limits
Second test:
G28
G90 ;Absolute Positioning
G1 X150 Y150 F2500
G1 X0 Y0 F2500
Error: G1/G2/G3: intermediate position outside machine limits 16:24:50 M98 P"0:/macros/test" Error: G1/G2/G3: intermediate position outside machine limits
the arm does the homing, then it makes a mistake, it moves in relative coordinates and not absolute in x150 / y150 (partial ok, not absolu)
but afterwards it is supposed to go to x0 / y0, and it goes to x0 / y300 ???
I think the concern is there is an inverted axis?
I think that since the beginning of my tests on 2.02RCx the problem with the absolute movements is here!
David In advance thanks for your changes in 2.02RC6
Humm of memory ... because the test of impression I had realized it on version 2.02RC3..4 ?
in short the impression started from my homing position,
it was not in the right place because no absolute movements
Hi David,
For memory, works perfect on firmware 1.21RC3 ...
My M669 config...
M669 K4 P200 D200 A-116:175 B-175:140 1:0:0 S100 T0.1 X64.2 Y-150.0; set SCARA kinematics parameters ok S200
M115
FIRMWARE_NAME: RepRapFirmware for Duet 2 WiFi/Ethernet FIRMWARE_VERSION: 2.02RC5(RTOS) ELECTRONICS: Duet WiFi 1.02 or later FIRMWARE_DATE: 2018-11-28b1
Removed:
deployprobe.g (exist, but empty file)
retractprobe.g (exist, but empty file)
Homing test without move (G1 S2 X1 Y-1) before G30 return Error on G30 (x/y home ok):
17:33:43 M120 G91 G1 Z-0.05 F6000 M121 Error: G0/G1: insufficient axes homed 17:33:33 G28 Error: Z probe was not triggered during probing move Error: G0/G1: insufficient axes homed
Second test Add move on homall.g before G30:
;Home Z ir-probe
G91
G1 S2 X1 Y-1 ;Add test ...
G90 ; absolute movement
G30 ; Single Z-Probe
Homing OK
But after homnig absolute movement return error
possible move just on relative movement ...
Move on G90 impossible ...
Error:
18:00:19 G1 X10 Y10 F500 Error: G1/G2/G3: intermediate position outside machine limits 17:59:57 G90
Print test ok but impossible to put it in the right place because no absolute movements ...
My homeall.g
M18 ; Disable all stepper motors (pour desactiver le second bras IMPORTANT !)
G91 ; relative movement
G1 S2 Z4 F250 ; ensure head is clear of the bed
;Move by security to the case or already home!
G1 S2 X5
G1 S2 Y-5
; Home proximal joint
G91
G1 S1 X-200 F2000 ; move proximal joint clockwise by up to 200 degrees until the endstop switch is triggered
G1 S2 X5 ; move proximal joint anticlockwise by 10 degrees
G1 S1 X-20 F300 ; move proximal joint slowly to the endstop switch again
G90 ; absolute movement
; Home distal joint
G91 ; relative movement
G1 S1 Y200 F2000 ; move distal joint clockwise by up to 200 degrees until the endstop switch is triggered
G1 S2 Y-5 ; move distal joint anticlockwise by 10 degrees
G1 S1 Y20 F300 ; move distal joint slowly to the endstop switch again
G90 ; absolute movement
;Home Z ir-probe
G91
G1 S2 X1 Y-1 ;Add test ...
G90 ; absolute movement
G30 ; Single Z-Probe
I have exactly the same problems as with version 2.02RC3
https://forum.duet3d.com/topic/7316/firmware-2-02-release-candidate-3-now-available/70
tested with your homing.all file adapted to my config, the same errors ...
Downgrade 1.21RC3 waiting ...
Hi David
Test 2.02RC5 on my Scara
Homing ok --> oup's ko 
But after homnig absolute movement return error
possible move just on relative movement ...
Move on G90 impossible ...
G90 ; absolute movement
G1 Y0 X0 F1000
Error: G1/G2/G3: intermediate position outside machine limits
UPGRADE ...
David if i remove G1 S2 X1 Y-1; on my homeall.g before G0 I always have the same error as on the versionn 2.02RC4 brief G30 does not work and homig is wrong ...
; Home Z ir-probe
G91; Add test ...
G1 S2 X1 Y-1; Add test ...
G90; absolute movement
G30; Single Z-Probe
In short on scara I have the same concerns as on version 2.02RC4
Thank you
No problems David 1.21RC3 works perfectly in the meantime
Hi David,
Homing ok if i add:
But test move after homing return error ...
17:26:48
G28
17:25:46
M120
G91
G1 Y10 F6000
M121
Error: G1/G2/G3: intermediate position outside machine limits
Hi David,
I test firmware 2.02RC3 on my Scara and DuetWifi
I do not have a Z end stop just your IR Probe
and G28 error on G30
G30 S-1
G30 P0 X0 Y0 Z-99999
Return:
G28
Error: Z probe was not triggered during probing move
Error: G0/G1: insufficient axes homed
My homeall.g (ok on 1.21RC3):
M18 ; Disable all stepper motors (pour desactiver le second bras IMPORTANT !)
G91 ; relative movement
G1 S2 Z4 F250 ; ensure head is clear of the bed
;Move by security to the case or already home !
G1 S2 X10
G1 S2 Y-10
; Home proximal joint
G91
G1 S1 X-200 F2000 ; move proximal joint clockwise by up to 200 degrees until the endstop switch is triggered
G1 S2 X5 ; move proximal joint anticlockwise by 10 degrees
G1 S1 X-20 F300 ; move proximal joint slowly to the endstop switch again
G90 ; absolute movement
; Home distal joint
G91 ; relative movement
G1 S1 Y200 F2000 ; move distal joint clockwise by up to 200 degrees until the endstop switch is triggered
G1 S2 Y-5 ; move distal joint anticlockwise by 10 degrees
G1 S1 Y20 F300 ; move distal joint slowly to the endstop switch again
G90 ; absolute movement
;Home Z
G90 ; absolute movement
G30 ; Single Z-Probe
My ZProbe on config.g:
; Z probe
M558 P1 I0 X0 Y0 Z1
G31 Z2.2 P500
M557 X25:265 Y25:265 S80