M4 Calibration Questions

KDB · March 14, 2024, 4:07pm

The new firmware is loaded and calibration is running.

First I ran a test nc file. Got a ton of errors.

Err. Position error on () axis exceeded 1mm, error is ().

It was all axis and the reported error is between 1 and1.5.

What is it telling me?

bar · March 14, 2024, 4:11pm

It’s telling you that I need to tune the PID controller

That’s totally normal, basically when the machine changes direction suddenly it will sometimes overshoot on one of the belts and you will get that warning. You can totally ignore them, I just didn’t want to solve the issue by hiding the error message since the real solution is to improve the PID tuning.

KDB · March 14, 2024, 5:39pm

Calibration worked.

Home button does not seem to.

bar · March 14, 2024, 5:40pm

Excellent!

Tell me more!

KDB · May 30, 2024, 2:12am

@bar
I’ve been away from it and when I came back upgraded to .75 and changed my frame from 12x8 to 9.5x6. The movements for calibration are unexpected. The first measurement appears to be in the center and looks normal, it the drops down and makes another, then this.
What is happening here?

KDB · May 30, 2024, 2:18am

Serial Messages
[MSG:INFO: Channel auto report interval set to 50 ms]
[GC:G0 G54 G17 G21 G90 G94 M5 M9 T0 F0 S0]
[MSG:INFO: FluidNC v0.74 (Maslow-Main-dddcbc15-dirty)]
[MSG:INFO: Compiled with ESP32 SDK:v4.4.4]
[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: Config messages ran]
[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: C<Alarm|MPos:0.000,0.000,0.000|FS:0,0|Ov:100,100,100>
[MSG:INFO: FluidNC v0.74 (Maslow-Main-dddcbc15-dirty)]
[MSG:INFO: Compiled with ESP32 SDK:v4.4.4]
[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: Config messages ran]
[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:hudson]
[MSG:INFO: Connecting.]
[MSG:INFO: Connecting…]
[MSG:INFO: Connected - IP is 192.168.0.19]
[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]
[GC:G0 G54 G17 G21 G90 G94 M5 M9 T0 F0 S0]
[MSG:INFO: Retracting all belts]
[MSG:INFO: Bottom Left pulled tight with offset -1395.251]
[MSG:INFO: Top Left pulled tight with offset -1432.806]
[MSG:INFO: Bottom Right pulled tight with offset -1736.562]
[MSG:INFO: Top Right pulled tight with offset -1758.463]
[MSG:INFO: Extending all belts]
[MSG:INFO: All belts extended to center position]
[MSG:INFO: Zeroing z-axis position]
[MSG:INFO: Measured waypoint 0]
[MSG:INFO: Center point deviation: TL: 0.186 TR: 0.332 BL: -3.967 BR: -3.631]
[MSG:INFO: Measured waypoint 1]
[MSG:INFO: Measured waypoint 2]
[MSG:ERR: Unable to move safely, stopping calibration]
[MSG:ERR: Emergency stop! Stopping all motors]
[MSG:WARN: The machine will not respond until turned off and back on again]
[MSG:ERR: Unable to move safely, stopping calibration]

KDB · May 30, 2024, 2:22am

board: Maslow
name: Maslow S3 Board
meta:
Maslow_vertical: false
maslow_calibration_grid_width_mm_X: 2000.000000
maslow_calibration_grid_height_mm_Y: 1000.000000
maslow_calibration_grid_size: 9
Maslow_brX: 2992.000000
Maslow_brY: 0.000000
Maslow_brZ: 78.000000
Maslow_tlX: 0.000000
Maslow_tlY: 1708.000000
Maslow_tlZ: 100.000000
Maslow_trX: 2992.000000
Maslow_trY: 1708.000000
Maslow_trZ: 56.000000
Maslow_blX: 0.000000
Maslow_blY: 0.000000
Maslow_blZ: 34.000000
Maslow_Retract_Current_Threshold: 1300
Maslow_Calibration_Current_Threshold: 1500
Maslow_Acceptable_Calibration_Threshold: 0.500000
stepping:
engine: Timed
idle_ms: 240
pulse_us: 4
dir_delay_us: 0
disable_delay_us: 0
segments: 12

uart1:
txd_pin: gpio.1
rxd_pin: gpio.2
rts_pin: NO_PIN
cts_pin: NO_PIN
baud: 115200
mode: 8N1

spi:
miso_pin: gpio.13
mosi_pin: gpio.11
sck_pin: gpio.12

sdcard:
cs_pin: gpio.10
card_detect_pin: NO_PIN
frequency_hz: 8000000

kinematics:
Cartesian:

axes:
shared_stepper_disable_pin: NO_PIN
shared_stepper_reset_pin: NO_PIN
x:
steps_per_mm: 80.000000
max_rate_mm_per_min: 2000.000000
acceleration_mm_per_sec2: 25.000000
max_travel_mm: 2438.399902
soft_limits: false
homing:
cycle: -1
allow_single_axis: true
positive_direction: true
mpos_mm: 0.000000
feed_mm_per_min: 50.000000
seek_mm_per_min: 200.000000
settle_ms: 250
seek_scaler: 1.100000
feed_scaler: 1.100000

motor0: 
  limit_neg_pin: NO_PIN
  limit_pos_pin: NO_PIN
  limit_all_pin: NO_PIN
  hard_limits: false
  pulloff_mm: 1.000000
  dc_servo: 
    id: 255
    timer_ms: 10

y:
steps_per_mm: 80.000000
max_rate_mm_per_min: 2000.000000
acceleration_mm_per_sec2: 25.000000
max_travel_mm: 1219.199951
soft_limits: false
homing:
cycle: -1
allow_single_axis: true
positive_direction: true
mpos_mm: 0.000000
feed_mm_per_min: 50.000000
seek_mm_per_min: 200.000000
settle_ms: 250
seek_scaler: 1.100000
feed_scaler: 1.100000

motor0: 
  limit_neg_pin: NO_PIN
  limit_pos_pin: NO_PIN
  limit_all_pin: NO_PIN
  hard_limits: false
  pulloff_mm: 1.000000
  null_motor:

z:
steps_per_mm: 100.000000
max_rate_mm_per_min: 400.000000
acceleration_mm_per_sec2: 10.000000
max_travel_mm: 100.000000
soft_limits: false
homing:
cycle: -1
allow_single_axis: true
positive_direction: true
mpos_mm: 0.000000
feed_mm_per_min: 50.000000
seek_mm_per_min: 200.000000
settle_ms: 250
seek_scaler: 1.100000
feed_scaler: 1.100000

motor0: 
  limit_neg_pin: NO_PIN
  limit_pos_pin: NO_PIN
  limit_all_pin: NO_PIN
  hard_limits: false
  pulloff_mm: 1.000000
  tmc_2209: 
    uart_num: 1
    step_pin: gpio.15
    direction_pin: gpio.16
    disable_pin: NO_PIN
    r_sense_ohms: 0.110000
    run_amps: 1.000000
    hold_amps: 0.500000
    microsteps: 1
    toff_disable: 0
    toff_stealthchop: 5
    use_enable: true
    addr: 0
    run_mode: StealthChop
    homing_mode: StealthChop
    stallguard: 0
    stallguard_debug: false
    toff_coolstep: 3

motor1: 
  limit_neg_pin: NO_PIN
  limit_pos_pin: NO_PIN
  limit_all_pin: NO_PIN
  hard_limits: false
  pulloff_mm: 1.000000
  tmc_2209: 
    uart_num: 1
    step_pin: gpio.46
    direction_pin: gpio.38
    disable_pin: NO_PIN
    r_sense_ohms: 0.110000
    run_amps: 1.000000
    hold_amps: 0.500000
    microsteps: 1
    toff_disable: 0
    toff_stealthchop: 5
    use_enable: true
    addr: 1
    run_mode: StealthChop
    homing_mode: StealthChop
    stallguard: 0
    stallguard_debug: false
    toff_coolstep: 3

control:
safety_door_pin: NO_PIN
reset_pin: NO_PIN
feed_hold_pin: NO_PIN
cycle_start_pin: NO_PIN
macro0_pin: NO_PIN
macro1_pin: NO_PIN
macro2_pin: NO_PIN
macro3_pin: NO_PIN

coolant:
flood_pin: NO_PIN
mist_pin: NO_PIN
delay_ms: 0

probe:
pin: NO_PIN
check_mode_start: true

macros:
startup_line0:
startup_line1:
macro0:
macro1:
macro2:
macro3:

start:
must_home: true
deactivate_parking: false
check_limits: false

parking:
enable: false
axis: Z
target_mpos_mm: -5.000000
rate_mm_per_min: 800.000000
pullout_distance_mm: 5.000000
pullout_rate_mm_per_min: 250.000000

user_outputs:
analog0_pin: NO_PIN
analog1_pin: NO_PIN
analog2_pin: NO_PIN
analog3_pin: NO_PIN
analog0_hz: 5000
analog1_hz: 5000
analog2_hz: 5000
analog3_hz: 5000
digital0_pin: NO_PIN
digital1_pin: NO_PIN
digital2_pin: NO_PIN
digital3_pin: NO_PIN
digital4_pin: NO_PIN
digital5_pin: NO_PIN
digital6_pin: NO_PIN
digital7_pin: NO_PIN

NoSpindle:

arc_tolerance_mm: 0.002000
junction_deviation_mm: 0.010000
verbose_errors: false
report_inches: false
enable_parking_override_control: false
use_line_numbers: false
planner_blocks: 16

md8n · May 30, 2024, 2:35am

The classic - You’ve got ‘horizontal’ (i.e. on the floor) selected in the config, when by the looks of your setup you need ‘vertical’

KDB · May 30, 2024, 3:10am

Oh good lord. That’s a real Homer Simpson moment.
Thanks

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