# Loose belts during calibration **URL:** \ **Category:** Uncategorized\ **Tags:** calibration\ **Created:** [September 6, 2024, 1:14pm UTC](https://forums.maslowcnc.com/t/loose-belts-during-calibration/22248 "2024-09-06T13:14:20Z")\ **Posts on this page:** 20\ **Page:** 3
**Author:** ![dlang](https://yyz1.discourse-cdn.com/flex031/user_avatar/forums.maslowcnc.com/dlang/32/859_2.png) [@dlang](https://forums.maslowcnc.com/u/dlang)\ **Post date:** [October 1, 2024, 12:12am UTC](https://forums.maslowcnc.com/t/loose-belts-during-calibration/22248/41 "2024-10-01T00:12:19Z")
one thing is that the estimate of the anchor locations changes on each pass, so most of the 2nd column is working with a different estimate than the first column (that doesn’t explain the top dot of the 2nds column though) David Lang > Date: Mon, 30 Sep 2024 23:22:16 +0000 > From: Andith via Maslow CNC Forums [notifications@maslowcnc.discoursemail.com](mailto:notifications@maslowcnc.discoursemail.com) > Reply-To: Maslow CNC Forums > [incoming+17ee8e8746b81c35f952ac3fa3ff168b@maslowcnc.discoursemail.com](mailto:incoming+17ee8e8746b81c35f952ac3fa3ff168b@maslowcnc.discoursemail.com) > To: david@lang.hm > Subject: [Maslow CNC] Loose belts during calibration > > > [@md8n](#): > > > > that¢s exactly what we are seeing. > > I think what he was saying is that the error distribution isn’t completely clustered in the corners so the height of the arms alone doesn’t fully explain the resulting errors. For instance, the first column stays very red nearly all the way down, then fades quickly to black. However, in the second column, the first point is black, and in the third column, the second point is black. If it was solely the height of the arms, then those patches of black do not make much sense and you’d expect things to more radiate out evenly towards the center. Also, why are the first and bottom rows nearly completely error free (except in the far corners), but similar results don’t show up in the columns (i.e., if the lower arms are keeping the machine in place in the top and bottom rows giving us all the dark dots, then why doesn’t it have any effect on keeping nearby errors out of their columns?). The graph definitely indicates something going on in those corners, but I don’t think the arm hei > ght quite explains everything wrong in the graph. It’s possible there is a combination of issues and not solely the arm height. ---
**Author:** ![md8n](https://yyz1.discourse-cdn.com/flex031/user_avatar/forums.maslowcnc.com/md8n/32/28197_2.png) [@md8n](https://forums.maslowcnc.com/u/md8n)\ **Post date:** [October 1, 2024, 12:44am UTC](https://forums.maslowcnc.com/t/loose-belts-during-calibration/22248/42 "2024-10-01T00:44:36Z")
> [@md8n](#): > > Projecting the various arm heights out can give this visualisation > > ![image](https://canada1.discourse-cdn.com/flex031/uploads/maslowcnc/original/3X/a/6/a6348caf472847726d485963b629971bc2a7923f.png) And here that is with the corresponding planes sliced off the bottom ![image](https://canada1.discourse-cdn.com/flex031/uploads/maslowcnc/original/3X/f/9/f9b5e411bedfa965b64e24831594e089d22d65bb.png) Or, looking directly on ![image](https://canada1.discourse-cdn.com/flex031/uploads/maslowcnc/original/3X/b/b/bb29ceed3d21433894cf18cac0ddc70ee0370cb6.png) So now I’m wondering if what I’m really saying is that the order of arm heights currently means that we are solving for 4 intersecting planes (which we know), whereas we could be solving for a single plane, at least something that’s very close to it. ---
**Author:** ![dlang](https://yyz1.discourse-cdn.com/flex031/user_avatar/forums.maslowcnc.com/dlang/32/859_2.png) [@dlang](https://forums.maslowcnc.com/u/dlang)\ **Post date:** [October 1, 2024, 1:10am UTC](https://forums.maslowcnc.com/t/loose-belts-during-calibration/22248/43 "2024-10-01T01:10:49Z")
Lee H wrote > So now I’m wondering if what I’m really saying is that the order of arm > heights currently means that we are solving for 4 intersecting planes (which > we know), whereas we could be solving for a single plane, at least something > that’s very close to it. We aren’t actually calculating a plan of all the anchors or arm ends, we are solving 4 separate equasions for each point (one for each arm) and looking for what numbers come closest to satisfying all of them. David Lang ---
**Author:** ![Ulmair](https://avatars.discourse-cdn.com/v4/letter/u/ba8739/32.png) [@Ulmair](https://forums.maslowcnc.com/u/Ulmair)\ **Post date:** [October 1, 2024, 4:02pm UTC](https://forums.maslowcnc.com/t/loose-belts-during-calibration/22248/44 "2024-10-01T16:02:40Z")
The python code is generating some obj file. This file includes a colored point cloud. You need a 3d visualizer like Meshlab ([https://www.meshlab.net/](https://www.meshlab.net/)). Paste the obj file into Mashlab and the point cloud should be visible. For a better visualization please use the Dot Decorator Shading option and maximize the point size: ![grafik](https://canada1.discourse-cdn.com/flex031/uploads/maslowcnc/original/3X/f/d/fd4ccf47b70b5594786b1d723a894ea7a7f311b3.png) ---
**Author:** ![bar](https://yyz1.discourse-cdn.com/flex031/user_avatar/forums.maslowcnc.com/bar/32/10_2.png) [@bar](https://forums.maslowcnc.com/u/bar)\ **Post date:** [October 1, 2024, 5:46pm UTC](https://forums.maslowcnc.com/t/loose-belts-during-calibration/22248/45 "2024-10-01T17:46:42Z")
Thanks! I’ll play around with that today. ---
**Author:** ![bar](https://yyz1.discourse-cdn.com/flex031/user_avatar/forums.maslowcnc.com/bar/32/10_2.png) [@bar](https://forums.maslowcnc.com/u/bar)\ **Post date:** [October 1, 2024, 9:20pm UTC](https://forums.maslowcnc.com/t/loose-belts-during-calibration/22248/46 "2024-10-01T21:20:35Z")
Very cool! I have it working: ![image](https://canada1.discourse-cdn.com/flex031/uploads/maslowcnc/original/3X/e/0/e00ae303856af7807741fe9953c438624cc08ae2.png) ---
**Author:** ![Andith](https://avatars.discourse-cdn.com/v4/letter/a/6f9a4e/32.png) [@Andith](https://forums.maslowcnc.com/u/Andith)\ **Post date:** [October 1, 2024, 9:34pm UTC](https://forums.maslowcnc.com/t/loose-belts-during-calibration/22248/47 "2024-10-01T21:34:00Z")
@bar, is your graph (immediately above) based on the same data as before or on your individual and separate data? If it is not based on the same data, the graphs still appear nearly identical. ---
**Author:** ![bar](https://yyz1.discourse-cdn.com/flex031/user_avatar/forums.maslowcnc.com/bar/32/10_2.png) [@bar](https://forums.maslowcnc.com/u/bar)\ **Post date:** [October 1, 2024, 9:35pm UTC](https://forums.maslowcnc.com/t/loose-belts-during-calibration/22248/48 "2024-10-01T21:35:39Z")
I’m getting some pretty different results than you when I add my own calibration data though. I’m seeing this error message at the end of the run and when I visualize the points I’m seeing that they don’t seem to have found a good fit. ```auto message: Desired error not necessarily achieved due to precision loss. success: False status: 2 fun: 13.137568958451139 x: [ 6.236e+01 2.153e+02 1.496e+03 8.950e+02 3.834e+03 1.805e+03 1.100e+03 3.763e+03 1.028e+03] nit: 36 jac: [-2.363e-02 -1.241e-01 1.687e-02 1.485e-03 -4.232e-03 -3.864e-02 1.921e-03 5.213e-02 2.142e-02] nfev: 3330 njev: 332 [0.0, 0.0, np.float64(62.36200217953408)] [215.27596959 1495.70409647 895.01778061] [3833.99868113 1805.15888435 1100.46886546] ``` ![image](https://canada1.discourse-cdn.com/flex031/uploads/maslowcnc/original/3X/7/a/7a5246da50c1fe7a96dc778b9d913b402290769b.png) or slightly better: ![image](https://canada1.discourse-cdn.com/flex031/uploads/maslowcnc/original/3X/f/6/f618cafb3566926d6fca12a062f1a0c90d118ee7.png) ---
**Author:** ![Ulmair](https://avatars.discourse-cdn.com/v4/letter/u/ba8739/32.png) [@Ulmair](https://forums.maslowcnc.com/u/Ulmair)\ **Post date:** [October 1, 2024, 10:11pm UTC](https://forums.maslowcnc.com/t/loose-belts-during-calibration/22248/49 "2024-10-01T22:11:43Z")
Could you give me your data. Then I will try to improve it … ---
**Author:** ![bar](https://yyz1.discourse-cdn.com/flex031/user_avatar/forums.maslowcnc.com/bar/32/10_2.png) [@bar](https://forums.maslowcnc.com/u/bar)\ **Post date:** [October 1, 2024, 10:13pm UTC](https://forums.maslowcnc.com/t/loose-belts-during-calibration/22248/50 "2024-10-01T22:13:23Z")
Here is the data that I used for the second one: measurements\_str = ‘[{bl:1515.103, br:2804.748, tr:2447.121, tl:876.392}, {bl:1422.588, br:2756.036, tr:2475.148, tl:950.036}, {bl:1330.711, br:2709.874, tr:2506.532, tl:1028.783}, {bl:1242.074, br:2666.919, tr:2541.451, tl:1110.755}, {bl:1152.336, br:2625.891, tr:2579.771, tl:1195.702}, {bl:1066.214, br:2588.245, tr:2621.357, tl:1282.753}, {bl:980.827, br:2554.013, tr:2666.022, tl:1371.564}, {bl:898.978, br:2524.223, tr:2713.698, tl:1461.807}, {bl:821.227, br:2497.490, tr:2764.155, tl:1553.227}, {bl:944.488, br:2329.336, tr:2616.864, tl:1627.878}, {bl:1012.958, br:2358.208, tr:2563.315, tl:1541.466}, {bl:1085.974, br:2391.109, tr:2512.789, tl:1456.095}, {bl:1163.225, br:2426.964, tr:2465.281, tl:1372.721}, {bl:1243.953, br:2467.498, tr:2420.992, tl:1291.723}, {bl:1327.933, br:2510.706, tr:2380.056, tl:1213.508}, {bl:1411.503, br:2556.705, tr:2342.673, tl:1138.744}, {bl:1497.150, br:2604.523, tr:2309.074, tl:1068.168}, {bl:1585.489, br:2656.684, tr:2279.324, tl:1002.466}, {bl:1667.671, br:2511.146, tr:2112.284, tl:1141.007}, {bl:1584.689, br:2456.440, tr:2143.682, tl:1199.078}, {bl:1502.899, br:2404.733, tr:2179.849, tl:1262.327}, {bl:1424.807, br:2354.971, tr:2219.914, tl:1330.091}, {bl:1348.434, br:2311.382, tr:2263.679, tl:1401.604}, {bl:1274.167, br:2269.034, tr:2310.974, tl:1476.625}, {bl:1205.273, br:2230.083, tr:2361.523, tl:1554.373}, {bl:1138.548, br:2194.955, tr:2415.171, tl:1634.507}, {bl:1079.124, br:2163.861, tr:2471.699, tl:1716.818}, {bl:1224.834, br:1998.560, tr:2332.173, tl:1818.502}, {bl:1277.310, br:2030.427, tr:2272.002, tl:1741.745}, {bl:1337.668, br:2069.144, tr:2214.870, tl:1666.638}, {bl:1400.651, br:2111.442, tr:2160.817, tl:1594.290}, {bl:1469.800, br:2156.544, tr:2110.105, tl:1525.117}, {bl:1540.848, br:2205.785, tr:2063.022, tl:1459.522}, {bl:1613.832, br:2256.357, tr:2019.828, tl:1397.913}, {bl:1689.476, br:2311.992, tr:1980.706, tl:1341.026}, {bl:1767.205, br:2369.918, tr:1946.009, tl:1289.412}, {bl:1874.848, br:2232.223, tr:1782.040, tl:1442.737}, {bl:1800.506, br:2169.567, tr:1819.334, tl:1489.251}, {bl:1729.763, br:2111.992, tr:1861.715, tl:1540.601}, {bl:1663.028, br:2057.909, tr:1908.385, tl:1596.547}, {bl:1596.614, br:2005.305, tr:1959.225, tl:1656.760}, {bl:1535.011, br:1956.136, tr:2013.652, tl:1720.557}, {bl:1477.750, br:1912.553, tr:2071.423, tl:1787.679}, {bl:1424.756, br:1871.767, tr:2132.372, tl:1857.828}, {bl:1377.448, br:1834.585, tr:2196.184, tl:1930.625}, {bl:1535.784, br:1671.982, tr:2067.609, tl:2051.593}, {bl:1579.858, br:1711.243, tr:1999.647, tl:1983.935}, {bl:1626.737, br:1754.349, tr:1934.441, tl:1918.369}, {bl:1679.242, br:1805.071, tr:1872.314, tl:1855.840}, {bl:1735.475, br:1857.018, tr:1813.671, tl:1796.772}, {bl:1795.798, br:1914.472, tr:1758.675, tl:1741.457}, {bl:1858.199, br:1972.911, tr:1707.722, tl:1690.241}, {bl:1923.732, br:2034.606, tr:1661.377, tl:1643.515}, {bl:1990.999, br:2099.288, tr:1619.839, tl:1601.684}, {bl:2118.648, br:1975.276, tr:1461.009, tl:1762.422}, {bl:2054.838, br:1906.267, tr:1506.227, tl:1800.766}, {bl:1992.405, br:1839.545, tr:1557.307, tl:1843.472}, {bl:1935.405, br:1776.350, tr:1612.866, tl:1890.445}, {bl:1879.400, br:1715.296, tr:1672.559, tl:1941.557}, {bl:1827.359, br:1657.826, tr:1735.990, tl:1996.276}, {bl:1780.064, br:1603.743, tr:1802.717, tl:2054.471}, {bl:1735.708, br:1556.257, tr:1872.413, tl:2115.800}, {bl:1696.967, br:1511.372, tr:1944.812, tl:2179.989}, {bl:1859.721, br:1355.756, tr:1831.984, tl:2314.380}, {bl:1894.787, br:1404.484, tr:1754.977, tl:2254.677}, {bl:1935.021, br:1458.223, tr:1680.348, tl:2197.196}, {bl:1978.722, br:1516.236, tr:1608.515, tl:2142.826}, {bl:2027.842, br:1579.506, tr:1539.710, tl:2091.848}, {bl:2079.692, br:1645.947, tr:1474.593, tl:2044.457}, {bl:2134.315, br:1714.577, tr:1413.529, tl:2000.983}, {bl:2192.851, br:1785.312, tr:1356.977, tl:1961.695}, {bl:2253.459, br:1859.439, tr:1305.766, tl:1926.733}, {bl:2390.540, br:1752.253, tr:1156.735, tl:2091.746}, {bl:2333.405, br:1672.674, tr:1213.594, tl:2124.234}, {bl:2278.664, br:1596.319, tr:1276.381, tl:2160.532}, {bl:2227.080, br:1522.269, tr:1343.589, tl:2200.825}, {bl:2180.013, br:1451.095, tr:1414.659, tl:2244.878}, {bl:2134.581, br:1383.361, tr:1489.202, tl:2292.417}, {bl:2093.555, br:1318.262, tr:1566.513, tl:2343.277}, {bl:2056.586, br:1257.757, tr:1646.180, tl:2397.209}, {bl:2023.411, br:1204.119, tr:1728.091, tl:2454.052}, {bl:2189.214, br:1060.403, tr:1637.787, tl:2597.797}, {bl:2218.668, br:1122.683, tr:1551.292, tl:2544.825}, {bl:2253.013, br:1189.148, tr:1466.310, tl:2494.027}, {bl:2291.470, br:1260.379, tr:1383.377, tl:2446.263}, {bl:2334.725, br:1335.048, tr:1302.730, tl:2401.745}, {bl:2380.096, br:1412.990, tr:1225.046, tl:2360.599}, {bl:2428.669, br:1493.835, tr:1150.780, tl:2323.007}, {bl:2481.321, br:1575.936, tr:1080.668, tl:2289.228}, {bl:2535.147, br:1657.885, tr:1015.540, tl:2259.358}, {bl:2679.652, br:1576.720, tr:886.828, tl:2426.905}, {bl:2628.118, br:1487.015, tr:960.040, tl:2455.066}, {bl:2580.080, br:1399.739, tr:1038.177, tl:2486.542}, {bl:2533.990, br:1313.286, tr:1119.862, tl:2521.646}, {bl:2490.742, br:1231.689, tr:1204.318, tl:2560.170}, {bl:2451.255, br:1149.625, tr:1290.990, tl:2601.989}, {bl:2415.340, br:1071.757, tr:1379.455, tl:2646.861}, {bl:2383.880, br:996.215, tr:1469.311, tl:2694.749}, {bl:2355.298, br:926.285, tr:1560.509, tl:2745.407},]’ ---
**Author:** ![Ulmair](https://avatars.discourse-cdn.com/v4/letter/u/ba8739/32.png) [@Ulmair](https://forums.maslowcnc.com/u/Ulmair)\ **Post date:** [October 1, 2024, 10:18pm UTC](https://forums.maslowcnc.com/t/loose-belts-during-calibration/22248/51 "2024-10-01T22:18:35Z")
Can you try this improvement. It seems my update is more robust. But I have to go to bed and wount wait until it converges … [calibrate.py](https://forums.maslowcnc.com/uploads/short-url/gVCVG9ux3wHl2cHJ8PNS2RocoqG.py) (18.6 KB) ---
**Author:** ![bar](https://yyz1.discourse-cdn.com/flex031/user_avatar/forums.maslowcnc.com/bar/32/10_2.png) [@bar](https://forums.maslowcnc.com/u/bar)\ **Post date:** [October 1, 2024, 10:20pm UTC](https://forums.maslowcnc.com/t/loose-belts-during-calibration/22248/52 "2024-10-01T22:20:12Z")
I will give it a try right now! ---
**Author:** ![Ulmair](https://avatars.discourse-cdn.com/v4/letter/u/ba8739/32.png) [@Ulmair](https://forums.maslowcnc.com/u/Ulmair)\ **Post date:** [October 1, 2024, 10:24pm UTC](https://forums.maslowcnc.com/t/loose-belts-during-calibration/22248/53 "2024-10-01T22:24:00Z")
I was couriouse 🙂 message: Optimization terminated successfully. success: True status: 0 fun: 0.8912146317551359 x: [ 2.778e+00 -7.088e+01 2.087e+03 5.976e+01 2.869e+03 2.085e+03 1.565e+01 2.926e+03 3.042e+01] nit: 1353 nfev: 2011 final\_simplex: (array([[ 2.778e+00, -7.088e+01, …, 2.926e+03, 3.042e+01], [ 2.778e+00, -7.088e+01, …, 2.926e+03, 3.042e+01], …, [ 2.778e+00, -7.088e+01, …, 2.926e+03, 3.042e+01], [ 2.778e+00, -7.088e+01, …, 2.926e+03, 3.042e+01]]), array([ 8.912e-01, 8.912e-01, 8.912e-01, 8.912e-01, 8.912e-01, 8.912e-01, 8.912e-01, 8.912e-01, 8.912e-01, 8.912e-01])) [0.0, 0.0, 2.7782756796101573] [-70.88035282 2086.97959977 59.76117711] [2869.39989698 2085.46760851 15.6486237] [2925.9100838242866, 0.0, 30.423941848456366] Maslow Fittness is: 0.5313592927573974 [residuals.obj](https://forums.maslowcnc.com/uploads/short-url/ozl11ILLpHizLYwRNweCSmhNFaw.obj) (39.2 KB) ![grafik](https://canada1.discourse-cdn.com/flex031/uploads/maslowcnc/original/3X/2/7/27865abc182f4e7511e18c3e232e39817fe14556.png) ---
**Author:** ![bar](https://yyz1.discourse-cdn.com/flex031/user_avatar/forums.maslowcnc.com/bar/32/10_2.png) [@bar](https://forums.maslowcnc.com/u/bar)\ **Post date:** [October 1, 2024, 10:25pm UTC](https://forums.maslowcnc.com/t/loose-belts-during-calibration/22248/54 "2024-10-01T22:25:26Z")
That does look much better. The left side still seems to be a weakness, but maybe not to quite the same extent…interesting 🤔 ---
**Author:** ![Andith](https://avatars.discourse-cdn.com/v4/letter/a/6f9a4e/32.png) [@Andith](https://forums.maslowcnc.com/u/Andith)\ **Post date:** [October 1, 2024, 11:05pm UTC](https://forums.maslowcnc.com/t/loose-belts-during-calibration/22248/55 "2024-10-01T23:05:49Z")
That is really interesting. The results are quite different (which both is and isn’t surprising). Oddly, @bar’s data has a slight triangular peak in the bottom middle to bottom middle-right area, that doesn’t show up at all in @Ulmair’s data. I wonder which graph is more representative of most users. Later, I can post the data from my calibration yesterday (not sure if I have the chops to make the graph above, but I definitely can pull the data). What do your respective frame’s look like? Horizontal? Vertical? Do your corner anchors lie flush with the rest of the frame or higher than the frame? ---
**Author:** ![bar](https://yyz1.discourse-cdn.com/flex031/user_avatar/forums.maslowcnc.com/bar/32/10_2.png) [@bar](https://forums.maslowcnc.com/u/bar)\ **Post date:** [October 2, 2024, 5:32pm UTC](https://forums.maslowcnc.com/t/loose-belts-during-calibration/22248/56 "2024-10-02T17:32:23Z")
It would be super interesting to compare more data sets. There are some here that we can play with, although they are mostly quite old: [GitHub - BarbourSmith/Calibration-Simulation](https://github.com/BarbourSmith/Calibration-Simulation) My frame from that test is horizontal and the basic frame that is on the website. ---
**Author:** ![Ulmair](https://avatars.discourse-cdn.com/v4/letter/u/ba8739/32.png) [@Ulmair](https://forums.maslowcnc.com/u/Ulmair)\ **Post date:** [October 12, 2024, 5:28pm UTC](https://forums.maslowcnc.com/t/loose-belts-during-calibration/22248/57 "2024-10-12T17:28:45Z")
I am using a horizontal approach and the anchor points lay approx 8 cm above the surface ---
**Author:** ![dlang](https://yyz1.discourse-cdn.com/flex031/user_avatar/forums.maslowcnc.com/dlang/32/859_2.png) [@dlang](https://forums.maslowcnc.com/u/dlang)\ **Post date:** [October 12, 2024, 9:20pm UTC](https://forums.maslowcnc.com/t/loose-belts-during-calibration/22248/58 "2024-10-12T21:20:37Z")
Ulmair wrote: > I am using a horizontal approach and the anchor points lay approx 8 cm above > the surface that seems rather high, you don’t want the belts pulling the machine away from the workpiece. did you adjust your z offset values in the maslow.yaml file to match? David Lang ---
**Author:** ![md8n](https://yyz1.discourse-cdn.com/flex031/user_avatar/forums.maslowcnc.com/md8n/32/28197_2.png) [@md8n](https://forums.maslowcnc.com/u/md8n)\ **Post date:** [October 22, 2024, 11:41pm UTC](https://forums.maslowcnc.com/t/loose-belts-during-calibration/22248/59 "2024-10-22T23:41:36Z")
> [@md8n](#): > > The alternative that I suggested (BL -\>TL —\> BR → TR) looks like this when performing the same kind of visualisation > > ![image](https://canada1.discourse-cdn.com/flex031/uploads/maslowcnc/original/3X/9/1/9184c128410c414af2a51b4478214b80270fe418.png) This didn’t work for the vertical-ish orientation. After installing it was immediately apparent that opposing corners needed to be as close as possible to the same height when in the vertical-ish orientation. Having said that, can someone who uses the ‘on-the-floor’ orientation please try this arrangement of belts after resetting the current calibration values and restarting calibration. I suspect that it should yield better calibration fitness values ---
**Author:** ![md8n](https://yyz1.discourse-cdn.com/flex031/user_avatar/forums.maslowcnc.com/md8n/32/28197_2.png) [@md8n](https://forums.maslowcnc.com/u/md8n)\ **Post date:** [October 23, 2024, 2:55am UTC](https://forums.maslowcnc.com/t/loose-belts-during-calibration/22248/60 "2024-10-23T02:55:27Z")
For my vertical-ish M4 setup, I ended up doing the following: - Modifying my frame changing it from 17 degrees to 23 degrees (where I use the M4 the floor results in it being 22 degrees) - this yielded a massive improvement in not having the sled tilt away from the from while calibrating. - Having one modified anchor point, which is higher than the others, the uppermost (relative to the sled) arm is attached to this anchor point. - Changing the arm layout to (relative to which is closest to the sled): BL → TR → TL → BR - Making the corresponding changes to the Z values in the maslow.yaml to march the new arm layout The result was a much smoother calibration process with no ‘weird’ behaviours. [Previous page](https://forums.maslowcnc.com/t/loose-belts-during-calibration/22248.md?page=2) [Next page](https://forums.maslowcnc.com/t/loose-belts-during-calibration/22248.md?page=4)