Fitness not close, not converging

Troubleshooting
1

I managed to update my firmware today, so now I can at least attempt calibration.

But no luck yet. The numbers for tlX, tlY, etc. make no sense.
I have a 12’ x 8’ vertical frame, and it is solid.
My anchors (3/8" hardened steel shafts) are on gate hinges mounted to the outside corners.
I think my arms are mounted correctly.
Here is my latest log:
Serial Messages
Index.html Version: 1.07
[MSG:INFO: Channel auto report interval set to 50 ms]
[MSG:INFO: FluidNC v3.0.x (noGit)]
[MSG:INFO: Compiled with ESP32 SDK:v4.4.7-dirty]
[MSG:INFO: Local filesystem type is littlefs]
[MSG:INFO: Configuration file:maslow.yaml]
[MSG:INFO: Machine Maslow S3 Board]
[MSG:INFO: Board Maslow]
[MSG:INFO: UART1 Tx:gpio.1 Rx:gpio.2 RTS:NO_PIN Baud:115200]
[MSG:INFO: SPI SCK:gpio.12 MOSI:gpio.11 MISO:gpio.13]
[MSG:INFO: SD Card cs_pin:gpio.10 detect:NO_PIN freq:8000000]
[MSG:INFO: Stepping:Timed Pulse:4us Dsbl Delay:0us Dir Delay:0us Idle Delay:240ms]
[MSG:INFO: Axis count 3]
[MSG:INFO: Axis X (-2438.400,0.000)]
[MSG:INFO: Motor0]
[MSG:INFO: Axis Y (-1219.200,0.000)]
[MSG:INFO: Motor0]
[MSG:INFO: Axis Z (-100.000,0.000)]
[MSG:INFO: Motor0]
[MSG:INFO: tmc_2209 UART1 Addr:0 Step:gpio.15 Dir:gpio.16 Disable:NO_PIN R:0.110]
[MSG:INFO: Motor1]
[MSG:INFO: tmc_2209 UART1 Addr:1 Step:gpio.46 Dir:gpio.38 Disable:NO_PIN R:0.110]
[MSG:INFO: Z Axis driver test passed]
[MSG:INFO: Z2 Axis driver test passed]
[MSG:INFO: Kinematic system: Cartesian]
[MSG:INFO: Using spindle NoSpindle]
[MSG:INFO: Connecting to STA SSID:dunes]
[MSG:INFO: Connecting.]
[MSG:INFO: Connecting..]
[MSG:INFO: Connected - IP is 192.168.68.105]
[MSG:INFO: WiFi on]
[MSG:INFO: Start mDNS with hostname:http://maslow.local/]
[MSG:INFO: SSDP Started]
[MSG:INFO: HTTP started on port 80]
[MSG:INFO: Telnet started on port 23]
[MSG:INFO: Channel auto report interval set to 50 ms]
[MSG:INFO: Caution: Unlocked]
Retract All
[MSG:INFO: Retracting all belts]
[MSG:INFO: Requesting state change from Unknown to Retracting Belts]
[MSG:INFO: Succeeded]
[MSG:INFO: Top Left pulled tight with offset -1063.216]
[MSG:INFO: Bottom Right pulled tight with offset -1276.907]
[MSG:INFO: Bottom Left pulled tight with offset -1612.903]
[MSG:INFO: Top Right pulled tight with offset -1906.836]
[MSG:INFO: Requesting state change from Retracting Belts to Belts Retracted]
[MSG:INFO: Succeeded]
Extend All
[MSG:INFO: Extending all belts]
[MSG:INFO: Requesting state change from Belts Retracted to Extending Belts]
[MSG:INFO: Succeeded]
Stop
[MSG:INFO: Caution: Unlocked]
Extend All
[MSG:INFO: Extending all belts]
[MSG:INFO: Requesting state change from Extending Belts to Extending Belts]
[MSG:INFO: Cannot extend the belts until they have been retracted]
Retract All
[MSG:INFO: Retracting all belts]
[MSG:INFO: Requesting state change from Extending Belts to Retracting Belts]
[MSG:INFO: Succeeded]
[MSG:INFO: Bottom Left pulled tight with offset -0.032]
[MSG:INFO: Top Left pulled tight with offset -0.054]
[MSG:INFO: Bottom Right pulled tight with offset 0.021]
[MSG:INFO: Top Right pulled tight with offset 0.011]
[MSG:INFO: Requesting state change from Retracting Belts to Belts Retracted]
[MSG:INFO: Succeeded]
Extend All
[MSG:INFO: Extending all belts]
[MSG:INFO: Requesting state change from Belts Retracted to Extending Belts]
[MSG:INFO: Succeeded]
Stop
[MSG:INFO: Caution: Unlocked]
Retract All
[MSG:INFO: Retracting all belts]
[MSG:INFO: Requesting state change from Extending Belts to Retracting Belts]
[MSG:INFO: Succeeded]
[MSG:INFO: Bottom Left pulled tight with offset 0.011]
[MSG:INFO: Top Left pulled tight with offset 0.000]
[MSG:INFO: Bottom Right pulled tight with offset -0.043]
[MSG:INFO: Top Right pulled tight with offset 0.054]
[MSG:INFO: Requesting state change from Retracting Belts to Belts Retracted]
[MSG:INFO: Succeeded]
Extend All
[MSG:INFO: Extending all belts]
[MSG:INFO: Requesting state change from Belts Retracted to Extending Belts]
[MSG:INFO: Succeeded]
Retract All
[MSG:INFO: Retracting all belts]
[MSG:INFO: Requesting state change from Extending Belts to Retracting Belts]
[MSG:INFO: Succeeded]
[MSG:INFO: Bottom Left pulled tight with offset 4104.480]
[MSG:INFO: Bottom Right pulled tight with offset 0.000]
[MSG:INFO: Top Right pulled tight with offset -0.043]
Retract All
[MSG:INFO: Retracting all belts]
[MSG:INFO: Requesting state change from Retracting Belts to Retracting Belts]
[MSG:INFO: Succeeded]
[MSG:INFO: Bottom Right pulled tight with offset -0.011]
Retract All
[MSG:INFO: Top Right pulled tight with offset 0.000]
[MSG:INFO: Retracting all belts]
[MSG:INFO: Requesting state change from Retracting Belts to Retracting Belts]
[MSG:INFO: Succeeded]
Retract All
[MSG:INFO: Retracting all belts]
[MSG:INFO: Requesting state change from Retracting Belts to Retracting Belts]
[MSG:INFO: Succeeded]
Retract All
[MSG:INFO: Retracting all belts]
[MSG:INFO: Requesting state change from Retracting Belts to Retracting Belts]
[MSG:INFO: Succeeded]
Stop
[MSG:INFO: Top Right pulled tight with offset 0.000]
[MSG:INFO: Bottom Right pulled tight with offset 0.000]
[MSG:INFO: Caution: Unlocked]
Retract All
[MSG:INFO: Retracting all belts]
[MSG:INFO: Requesting state change from Retracting Belts to Retracting Belts]
[MSG:INFO: Succeeded]
[MSG:INFO: Bottom Right pulled tight with offset 0.000]
[MSG:INFO: Top Right pulled tight with offset 0.000]
[MSG:INFO: Bottom Left pulled tight with offset -2174.690]
[MSG:INFO: Top Left pulled tight with offset 0.752]
[MSG:INFO: Requesting state change from Retracting Belts to Belts Retracted]
[MSG:INFO: Succeeded]
Retract All
[MSG:INFO: Retracting all belts]
[MSG:INFO: Requesting state change from Belts Retracted to Retracting Belts]
[MSG:INFO: Succeeded]
[MSG:INFO: Bottom Right pulled tight with offset 0.000]
[MSG:INFO: Top Right pulled tight with offset 0.000]
[MSG:INFO: Top Left pulled tight with offset -0.247]
[MSG:INFO: Bottom Left pulled tight with offset -1147.011]
[MSG:INFO: Requesting state change from Retracting Belts to Belts Retracted]
[MSG:INFO: Succeeded]
Retract All
[MSG:INFO: Retracting all belts]
[MSG:INFO: Requesting state change from Belts Retracted to Retracting Belts]
[MSG:INFO: Succeeded]
[MSG:INFO: Bottom Right pulled tight with offset 0.011]
[MSG:INFO: Bottom Left pulled tight with offset -4.670]
[MSG:INFO: Top Right pulled tight with offset 0.000]
[MSG:INFO: Top Left pulled tight with offset 0.011]
[MSG:INFO: Requesting state change from Retracting Belts to Belts Retracted]
[MSG:INFO: Succeeded]
Retract All
[MSG:INFO: Retracting all belts]
[MSG:INFO: Requesting state change from Belts Retracted to Retracting Belts]
[MSG:INFO: Succeeded]
[MSG:INFO: Bottom Right pulled tight with offset 0.000]
[MSG:INFO: Top Left pulled tight with offset -0.021]
[MSG:INFO: Top Right pulled tight with offset -0.021]
[MSG:INFO: Bottom Left pulled tight with offset -769.756]
[MSG:INFO: Requesting state change from Retracting Belts to Belts Retracted]
[MSG:INFO: Succeeded]
Extend All
[MSG:INFO: Extending all belts]
[MSG:INFO: Requesting state change from Belts Retracted to Extending Belts]
[MSG:INFO: Succeeded]
[MSG:INFO: All belts extended to 2600.000mm]
[MSG:INFO: Requesting state change from Extending Belts to Belts Extended]
[MSG:INFO: Succeeded]
Calibrate
[MSG:INFO: Requesting state change from Belts Extended to Calibrating]
[MSG:INFO: Setting z-stop position]
[MSG:INFO: Machine Position found as X: -6.842 Y: -672.926]
[MSG:INFO: Succeeded]
Stop Maslow and Gcode
[MSG:INFO: Caution: Unlocked]
Stop
[MSG:INFO: Caution: Unlocked]
Stop
[MSG:INFO: Caution: Unlocked]
Retract All
[MSG:INFO: Retracting all belts]
[MSG:INFO: Requesting state change from Calibrating to Retracting Belts]
[MSG:INFO: Succeeded]
[MSG:INFO: Bottom Right pulled tight with offset -0.075]
[MSG:INFO: Top Left pulled tight with offset -0.311]
[MSG:INFO: Top Right pulled tight with offset 0.064]
[MSG:INFO: Bottom Left pulled tight with offset -7.451]
[MSG:INFO: Requesting state change from Retracting Belts to Belts Retracted]
[MSG:INFO: Succeeded]
Extend All
[MSG:INFO: Extending all belts]
[MSG:INFO: Requesting state change from Belts Retracted to Extending Belts]
[MSG:INFO: Succeeded]
[MSG:INFO: All belts extended to 2100.000mm]
[MSG:INFO: Requesting state change from Extending Belts to Belts Extended]
[MSG:INFO: Succeeded]
Calibrate
[MSG:INFO: Requesting state change from Belts Extended to Calibrating]
[MSG:INFO: Setting z-stop position]
[MSG:INFO: Machine Position found as X: 9.279 Y: -38.779]
[MSG:INFO: Succeeded]
[MSG:INFO: Measured waypoint 0]
[MSG:INFO: Center point off by: TL: 0.000 TR: 0.000 BL: 50.907 BR: -67.303]
[MSG:INFO: Machine Position computed as X: -7.793 Y: -10.660]
[MSG:INFO: Measuring Frame Flex]
[MSG:INFO: Flex measurement: TLBR: 2.742 TRBL: 85.860]
[MSG:INFO: Measured waypoint 1]
[MSG:INFO: Measured waypoint 2]
[MSG:INFO: Measured waypoint 3]
[MSG:INFO: Measured waypoint 4]
[MSG:INFO: Measured waypoint 5]
[MSG:INFO: Requesting state change from Calibrating to Calibration Computing]
[MSG:INFO: Succeeded]
CLBM:[{bl:2258.09, br:2160.74, tr:2252.71, tl:2251.49},{bl:2330.09, br:2053.70, tr:2152.71, tl:2356.27},{bl:2546.88, br:2157.34, tr:2044.13, tl:2264.47},{bl:2571.25, br:2263.50, tr:2145.48, tl:2151.71},{bl:2180.76, br:2367.63, tr:2258.67, tl:2043.04},{bl:2205.58, br:2273.25, tr:2357.71, tl:2144.70},]
Computing… This may take several minutesFitness: 0.0167632 in 100
Fitness: 0.0167632 in 200
Fitness: 0.0169641 in 300
Fitness: 0.0179505 in 400
Fitness: 0.0199923 in 500
Fitness: 0.0222609 in 600
Fitness: 0.0243486 in 700
Fitness: 0.0247174 in 800
Fitness: 0.0254421 in 900
Fitness: 0.0260032 in 1000
Fitness: 0.0262449 in 1100
Fitness: 0.0263996 in 1200
Fitness: 0.0266283 in 1300
Fitness: 0.0266396 in 1400
Fitness: 0.0267752 in 1500
Fitness: 0.0267951 in 1600
Fitness: 0.0268364 in 1700
Fitness: 0.0270437 in 1800
Fitness: 0.0273985 in 1900
Fitness: 0.0276060 in 2000
Fitness: 0.0276060 in 2100
Fitness: 0.0276060 in 2200
Fitness: 0.0276060 in 2300
Fitness: 0.0276060 in 2400
Fitness: 0.0276060 in 2500
Fitness: 0.0276060 in 2600
Fitness: 0.0276060 in 2700
Fitness: 0.0276060 in 2800
Fitness: 0.0276060 in 2900

Calculated Fitness Too Low. The process will automatically try again.!
Calibration values:
Fitness: 0.027606031758928583
Maslow_tlX: 191.4
Maslow_tlY: 3705.5
Maslow_trX: 3307.6
Maslow_trY: 776.9
Maslow_blX: 0.0
Maslow_blY: 0.0
Maslow_brX: 2559.6
Maslow_brY: 0.0
RestartingFitness: 0.0273163 in 100
Fitness: 0.0273163 in 200
Fitness: 0.0273163 in 300
Fitness: 0.0273163 in 400
Fitness: 0.0273163 in 500
Fitness: 0.0273163 in 600
Fitness: 0.0273163 in 700
Fitness: 0.0273163 in 800
Fitness: 0.0273163 in 900
Fitness: 0.0273163 in 1000

Calculated Fitness Too Low. The process will automatically try again.!
Calibration values:
Fitness: 0.02731627798721699
Maslow_tlX: 182.4
Maslow_tlY: 3713.8
Maslow_trX: 3289.9
Maslow_trY: 771.7
Maslow_blX: 0.0
Maslow_blY: 0.0
Maslow_brX: 2536.6
Maslow_brY: 0.0
RestartingFitness: 0.0272117 in 100
Fitness: 0.0272117 in 200
Fitness: 0.0272117 in 300
Fitness: 0.0272117 in 400
Fitness: 0.0272117 in 500
Fitness: 0.0272117 in 600
Fitness: 0.0272117 in 700
Fitness: 0.0272117 in 800
Fitness: 0.0272117 in 900
Fitness: 0.0272117 in 1000
Fitness: 0.0272117 in 1100

Calculated Fitness Too Low. The process will automatically try again.!
Calibration values:
Fitness: 0.027211714995969593
Maslow_tlX: 178.1
Maslow_tlY: 3716.5
Maslow_trX: 3283.9
Maslow_trY: 771.1
Maslow_blX: 0.0
Maslow_blY: 0.0
Maslow_brX: 2527.6
Maslow_brY: 0.0
RestartingFitness: 0.0270382 in 100
Fitness: 0.0271093 in 200
Fitness: 0.0271093 in 300
Fitness: 0.0271093 in 400
Fitness: 0.0271093 in 500
Fitness: 0.0271093 in 600
Fitness: 0.0271093 in 700
Fitness: 0.0271093 in 800
Fitness: 0.0271093 in 900
Fitness: 0.0271093 in 1000
Fitness: 0.0271093 in 1100

Calculated Fitness Too Low. The process will automatically try again.!
Calibration values:
Fitness: 0.02710930729153996
Maslow_tlX: 198.5
Maslow_tlY: 3720.4
Maslow_trX: 3272.4
Maslow_trY: 735.2
Maslow_blX: 0.0
Maslow_blY: 0.0
Maslow_brX: 2542.7
Maslow_brY: 0.0
RestartingFitness: 0.0271591 in 100
Fitness: 0.0271591 in 200
Fitness: 0.0271591 in 300
Fitness: 0.0271591 in 400
Fitness: 0.0271591 in 500
Fitness: 0.0271591 in 600
Fitness: 0.0271591 in 700
Fitness: 0.0271591 in 800
Fitness: 0.0271591 in 900
Fitness: 0.0271591 in 1000

Calculated Fitness Too Low. The process will automatically try again.!
Calibration values:
Fitness: 0.027159144004291556
Maslow_tlX: 239.6
Maslow_tlY: 3727.1
Maslow_trX: 3272.7
Maslow_trY: 701.8
Maslow_blX: 0.0
Maslow_blY: 0.0
Maslow_brX: 2576.7
Maslow_brY: 0.0
RestartingFitness: 0.0276114 in 100
Fitness: 0.0276114 in 200
Fitness: 0.0276114 in 300
Fitness: 0.0276114 in 400
Fitness: 0.0276114 in 500
Fitness: 0.0276114 in 600
Fitness: 0.0276114 in 700
Fitness: 0.0276114 in 800
Fitness: 0.0276114 in 900
Fitness: 0.0276114 in 1000

Calculated Fitness Too Low. The process will automatically try again.!
Calibration values:
Fitness: 0.027611379029230523
Maslow_tlX: 214.3
Maslow_tlY: 3719.6
Maslow_trX: 3294.1
Maslow_trY: 746.0
Maslow_blX: 0.0
Maslow_blY: 0.0
Maslow_brX: 2564.6
Maslow_brY: 0.0
RestartingFitness: 0.0268726 in 100
Fitness: 0.0269012 in 200
Fitness: 0.0269012 in 300
Fitness: 0.0269012 in 400
Fitness: 0.0269012 in 500
Fitness: 0.0269012 in 600
Fitness: 0.0269012 in 700
Fitness: 0.0269012 in 800
Fitness: 0.0269012 in 900
Fitness: 0.0269012 in 1000
Fitness: 0.0269012 in 1100

Calculated Fitness Too Low. The process will automatically try again.!
Calibration values:
Fitness: 0.026901233804105463
Maslow_tlX: 210.7
Maslow_tlY: 3709.2
Maslow_trX: 3277.8
Maslow_trY: 711.9
Maslow_blX: 0.0
Maslow_blY: 0.0
Maslow_brX: 2574.3
Maslow_brY: 0.0
RestartingFitness: 0.0264431 in 100
Fitness: 0.0264431 in 200
Fitness: 0.0264431 in 300
Fitness: 0.0264431 in 400
Fitness: 0.0264431 in 500
Fitness: 0.0264431 in 600
Fitness: 0.0264431 in 700
Fitness: 0.0264431 in 800
Fitness: 0.0264431 in 900
Fitness: 0.0264431 in 1000

Calculated Fitness Too Low. The process will automatically try again.!
Calibration values:
Fitness: 0.026443097260308437
Maslow_tlX: 226.4
Maslow_tlY: 3696.6
Maslow_trX: 3275.2
Maslow_trY: 670.7
Maslow_blX: 0.0
Maslow_blY: 0.0
Maslow_brX: 2611.3
Maslow_brY: 0.0
RestartingFitness: 0.0261644 in 100

Does anything stand out?

Thanks.

1 Like
2

I threw your measurements into the simulator and it looks to me like there is something funky going on with the top left measurements. The other three seem to be finding reasonable values, but the top left ones are always way off.

Are you seeing anything funky with the top left belt?

Does anything in your calibration process seem different from this video?

3

Here’s another attempt. I don’t see anything wierd with the TL belt. Is there no way to pause or stop the calibration loop?

Calibrate
[MSG:INFO: Requesting state change from Belts Extended to Calibrating]
[MSG:INFO: Setting z-stop position]
[MSG:INFO: Machine Position found as X: 0.616 Y: 70.679]
[MSG:INFO: Succeeded]
[MSG:INFO: Measured waypoint 1]
[MSG:INFO: Measured waypoint 2]
[MSG:INFO: Measured waypoint 3]
[MSG:INFO: Measured waypoint 4]
[MSG:INFO: Measured waypoint 5]
[MSG:INFO: Requesting state change from Calibrating to Calibration Computing]
[MSG:INFO: Succeeded]
CLBM:[{bl:2274.37, br:2162.89, tr:2252.67, tl:2251.26},{bl:2210.74, br:2209.99, tr:2203.17, tl:2201.32},{bl:2427.53, br:2156.41, tr:2044.06, tl:2265.46},{bl:2453.69, br:2262.29, tr:2146.11, tl:2152.12},{bl:2508.99, br:2367.61, tr:2259.87, tl:2042.81},{bl:2509.07, br:2273.86, tr:2358.29, tl:2143.74},]
Computing… This may take several minutesFitness: 0.0161204 in 100
Fitness: 0.0163973 in 200
Fitness: 0.0167117 in 300
Fitness: 0.0170111 in 400
Fitness: 0.0172787 in 500
Fitness: 0.0175051 in 600
Fitness: 0.0176972 in 700
Fitness: 0.0178421 in 800
Fitness: 0.0179488 in 900
Fitness: 0.0180459 in 1000
Fitness: 0.0181586 in 1100
Fitness: 0.0182663 in 1200
Fitness: 0.0183755 in 1300
Fitness: 0.0184927 in 1400
Fitness: 0.0186126 in 1500
Fitness: 0.0187432 in 1600
Fitness: 0.0188541 in 1700
Fitness: 0.0189548 in 1800
Fitness: 0.0190584 in 1900
Fitness: 0.0191900 in 2000
Fitness: 0.0193567 in 2100
Fitness: 0.0195339 in 2200
Fitness: 0.0197476 in 2300
Fitness: 0.0200129 in 2400
Fitness: 0.0202878 in 2500
Fitness: 0.0206543 in 2600
Fitness: 0.0212885 in 2700
Fitness: 0.0224091 in 2800
Fitness: 0.0233467 in 2900
Fitness: 0.0241216 in 3000
Fitness: 0.0246415 in 3100
Fitness: 0.0251046 in 3200
Fitness: 0.0254457 in 3300
Fitness: 0.0256967 in 3400
Fitness: 0.0257504 in 3500
Fitness: 0.0258428 in 3600
Fitness: 0.0258663 in 3700
Fitness: 0.0258663 in 3800
Fitness: 0.0258663 in 3900
Fitness: 0.0258663 in 4000
Fitness: 0.0258663 in 4100
Fitness: 0.0258663 in 4200
Fitness: 0.0258663 in 4300
Fitness: 0.0258663 in 4400
Fitness: 0.0258663 in 4500
Fitness: 0.0258663 in 4600

Calculated Fitness Too Low. The process will automatically try again.!
Calibration values:
Fitness: 0.025866296276478882
Maslow_tlX: 214.9
Maslow_tlY: 2623.9
Maslow_trX: 4047.0
Maslow_trY: 592.6
Maslow_blX: 0.0
Maslow_blY: 0.0
Maslow_brX: 3754.5
Maslow_brY: 0.0
RestartingFitness: 0.0257698 in 100
Fitness: 0.0257698 in 200
Fitness: 0.0257698 in 300
Fitness: 0.0257698 in 400
Fitness: 0.0257698 in 500
Fitness: 0.0257698 in 600
Fitness: 0.0257698 in 700
Fitness: 0.0257698 in 800
Fitness: 0.0257698 in 900
Fitness: 0.0257698 in 1000

Calculated Fitness Too Low. The process will automatically try again.!
Calibration values:
Fitness: 0.02576981073269736
Maslow_tlX: 230.1
Maslow_tlY: 2624.4
Maslow_trX: 4051.4
Maslow_trY: 576.1
Maslow_blX: 0.0
Maslow_blY: 0.0
Maslow_brX: 3768.1
Maslow_brY: 0.0
RestartingFitness: 0.0257723 in 100
Fitness: 0.0257723 in 200
Fitness: 0.0257723 in 300
Fitness: 0.0257723 in 400
Fitness: 0.0257723 in 500
Fitness: 0.0257723 in 600
Fitness: 0.0257723 in 700
Fitness: 0.0257723 in 800
Fitness: 0.0257723 in 900
Fitness: 0.0257723 in 1000

1 Like
4

There is still something really weird going on with the data.

Do you have a rough measurement of the spacing of your frame? Maybe if I know roughly what the right answer is I can work back from there to figure out where it’s going wrong

5

Here they are, close as I can with my tape:
BL - BR = 3677
TL - TR = 3680
BL - TL = 2451
BR - TR = 2451

The bottoms of the anchors are roughly 1/2" below the spoilboard.

Corners

1 Like
6

Hmmm, it’s looking to me like the measurements themselves are wrong.

When you press the Retract All button do all four belts fully retract into the machine?

The next thing that comes to mind is that a magnet could be lose causing one of the encoders to not read correctly

To test if the magnets are secure retract all four belts fully, then extend all four belts to full length and then retract them again by pressing the “Retract All” button. When the arms are extended and retraced we expect them to return back to the same point. If the magnet can slip the machine will think that they returned to a slightly different position. When retract all is complete check the four numbers printed out by the machine, they should be very close to zero (<0.5mm). If any of those number is larger it could indicate that a magnet is slipping.

7

The flex measurement definitely suggests something funky.

Looking at the pictures - there doesn’t seem to be anything to stop the belt end sliding up and down the anchor? Though that still shouldn’t give that much difference :thinking:

1 Like
8

Is “full length” my extend distance, or bigger?
I was trying earlier to ensure they were spooled tightly, but didn’t want to unwind past 0…

Retract seems to work, but I can try again (for the hundredth time).

I’ve been keeping an eye on the ends - not sliding around until I get to the store to pick up a couple more collars.

Ironically, I just found another way to hold them down though - the rubber band I used to hold my tape at one end.

1 Like
9

What do I need to disassemble to check the magnet(s)?

10

That is a great point! That is for sure telling us that something weird is going on

11

Just your extend distance, it doesn’t have to be all the way out

12

I noticed that too, and thought, no way.

13

This is super clever way to hold a tape :grinning_face:

14

First retract from where calibration stopped:

[MSG:INFO: Caution: Unlocked]
Retract All
[MSG:INFO: Retracting all belts]
[MSG:INFO: Requesting state change from Unknown to Retracting Belts]
[MSG:INFO: Succeeded]
[MSG:INFO: Top Left pulled tight with offset -1993.573]
[MSG:INFO: Bottom Right pulled tight with offset -2121.944]
[MSG:INFO: Top Right pulled tight with offset -2205.932]
[MSG:INFO: Bottom Left pulled tight with offset -2391.302]
[MSG:INFO: Requesting state change from Retracting Belts to Belts Retracted]
[MSG:INFO: Succeeded]

Then Extend All. When I Retracted, BL didn’t move, so I did Retract All a second time
Extend All
[MSG:INFO: Extending all belts]
[MSG:INFO: Requesting state change from Belts Retracted to Extending Belts]
[MSG:INFO: Succeeded]
[MSG:INFO: All belts extended to 2050.000mm]
[MSG:INFO: Requesting state change from Extending Belts to Belts Extended]
[MSG:INFO: Succeeded]
Retract All
[MSG:INFO: Retracting all belts]
[MSG:INFO: Requesting state change from Belts Extended to Retracting Belts]
[MSG:INFO: Succeeded]
[MSG:INFO: Bottom Left pulled tight with offset 2054.156]
[MSG:INFO: Top Left pulled tight with offset 0.043]
[MSG:INFO: Bottom Right pulled tight with offset -0.021]
[MSG:INFO: Top Right pulled tight with offset -0.011]
[MSG:INFO: Requesting state change from Retracting Belts to Belts Retracted]
[MSG:INFO: Succeeded]

2nd Retract All:
Retract All
[MSG:INFO: Retracting all belts]
[MSG:INFO: Requesting state change from Belts Retracted to Retracting Belts]
[MSG:INFO: Succeeded]
[MSG:INFO: Top Left pulled tight with offset -0.011]
[MSG:INFO: Bottom Right pulled tight with offset -0.011]
[MSG:INFO: Top Right pulled tight with offset -0.021]
[MSG:INFO: Bottom Left pulled tight with offset -2054.124]
[MSG:INFO: Requesting state change from Retracting Belts to Belts Retracted]
[MSG:INFO: Succeeded]

3rd Retract All:
Retract All
[MSG:INFO: Retracting all belts]
[MSG:INFO: Requesting state change from Belts Retracted to Retracting Belts]
[MSG:INFO: Succeeded]
[MSG:INFO: Bottom Right pulled tight with offset 0.000]
[MSG:INFO: Top Left pulled tight with offset 0.000]
[MSG:INFO: Top Right pulled tight with offset 0.000]
[MSG:INFO: Bottom Left pulled tight with offset -0.075]
[MSG:INFO: Requesting state change from Retracting Belts to Belts Retracted]
[MSG:INFO: Succeeded]

What next?

15

It took three tries to get the bottom left one to pull all the way in?

It doesn’t look like a magnet issue to me, but just to be 100% sure can we try increasing the retraction threshold so that they all pull in on the first go?

While you are doing that I will think up what to try next because I’m stumped

16

This first measurement has the top two belts very close to the same length (so we’re right about centered) but then the lower two belts are quite different lengths which given how symmetrical your frame is seems off.

This also seems quite off. There is no way you are seeing 85mm of frame flex.

I think that maybe the next thing to try is to increase the calibration retraction current and run calibration again to see if maybe we had some funky measurements in there.

17

BL still didn’t move until I did Retract All a second time. What’s up with that offset though?

Retract All
[MSG:INFO: Retracting all belts]
[MSG:INFO: Requesting state change from Belts Extended to Retracting Belts]
[MSG:INFO: Succeeded]
[MSG:INFO: Bottom Left pulled tight with offset 2053.566]
[MSG:INFO: Top Left pulled tight with offset 0.021]
[MSG:INFO: Bottom Right pulled tight with offset 0.097]
[MSG:INFO: Top Right pulled tight with offset 0.021]
[MSG:INFO: Requesting state change from Retracting Belts to Belts Retracted]
[MSG:INFO: Succeeded]
Retract All
[MSG:INFO: Retracting all belts]
[MSG:INFO: Requesting state change from Belts Retracted to Retracting Belts]
[MSG:INFO: Succeeded]
[MSG:INFO: Top Left pulled tight with offset 0.000]
[MSG:INFO: Top Right pulled tight with offset -0.011]
[MSG:INFO: Bottom Right pulled tight with offset -0.075]
[MSG:INFO: Bottom Left pulled tight with offset -2053.512]
[MSG:INFO: Requesting state change from Retracting Belts to Belts Retracted]
[MSG:INFO: Succeeded]

18

Since the homing process defines where zero is the next time it will go negative.

2053.566 - 2053.512 = .0539 so I think that we can call that one as good and also not a magnet issue

19

Let’s do this next

20

OK. I have retraction at 1600 and calibration at 1200. Should I increase calibration to 1400?
I think yesterday retraction at 1500 was working…

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