Some Calibration Questions

[darylp62]

I had several failed calibration attempts that have taught me that I don’t completely understand the process.

My frame is horizontal on my shop floor about 12’ x 9’. The anchor’s are threaded inserts in the concrete floor. I have my retraction force set to 950. My first two attempts were done using my Unbuntu laptop using the Brave browser and the Chromium browser. Both failed with the following error:

[MSG:INFO: Measured waypoint 84]
[MSG:INFO: Measured waypoint 85]
[MSG:INFO: Measured waypoint 86]
[MSG:INFO: Requesting state change from Finding Anchor to Find Anchors Computing]
[MSG:INFO: Succeeded]
CLBM:[{bl:2238.62, br:2246.10, tr:2252.26, tl:2232.40},{bl:2348.80, br:2139.03, tr:2144.78, tl:2342.29},{bl:2456.28, br:2236.31, tr:2037.74, tl:2264.75},{bl:2345.39, br:2326.51,

{bl:2485.58, br:2202.01, tr:2004.40, tl:2301.66},{bl:2644.34, br:2055.97, tr:1847.85, tl:2473.24},{bl:2804.52, br:1922.99, tr:1704.44, tl:2644.17},{bl:2848.85, br:1890.87, tr:1667.71, tl:2693.51},{bl:2893.48, br:1857.18, tr:1629.82, tl:2743.00},{bl:2938.24, br:1824.55, tr:1593.44, tl:2792.31},{bl:2960.55, br:1787.78, tr:1606.72, tl:2832.72},{bl:2960.55, br:1742.03, tr:1622.71, tl:2869.33},{bl:2960.56, br:1696.32, tr:1640.91, tl:2906.87},{bl:2960.50, br:1650.11, tr:1663.49, tl:2944.04},{bl:2942.63, br:1603.16, tr:1694.99, tl:2979.58},]
[MSG:ERR: Calibration data not acknowledged by computer, resending]

Is this due to the browser and or operating system? I would prefer to use this environment if possible.

My next five attempts were using Windows with the Edge browser. For the first two I used 3d printed floor anchor points from the Not Shop. I switched to bolting the anchors to the floor for the next three attempts. For the last two attempts I tried to reduce the size of the calibration grid from 9 down to 7 then down to 3. I followed the set, save, and restart procedure. The process still tested 80 plus waypoints. It seems like my attempt to modify the size of the grid didn’t work, is it possible to reduce the size of the grid? For the final set of waypoints on the far right and far left one of the cables was not tight. I’m assuming this had something to do with my failure. Here is the serial.log file from my last failure. I’ve edited it to remove some of the fitness test detail.

Serial Messages
Index.html Version: v1.20
[MSG:ERR: MaslowKinematics: Failed to compute X,Y from belt lengths, using (0,0)]
[MSG:INFO: Channel auto report interval set to 50 ms]
[MSG:INFO: Channel auto report interval set to 50 ms]
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 -0.032]
[MSG:INFO: Top Right pulled tight with offset 0.021]
[MSG:INFO: Bottom Left pulled tight with offset 0.043]
[MSG:INFO: Bottom Right pulled tight with offset -0.011]
[MSG:INFO: Requesting state change from Retracting Belts to Belts Retracted]
[MSG:ERR: MaslowKinematics: Failed to compute X,Y from belt lengths, using (0,0)]
[MSG:INFO: Succeeded]
[MSG:ERR: MaslowKinematics: Failed to compute X,Y from belt lengths, using (0,0)]
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 2130.000mm]
[MSG:INFO: Requesting state change from Extending Belts to Belts Extended]
[MSG:ERR: MaslowKinematics: Failed to compute X,Y from belt lengths, using (0,0)]
[MSG:INFO: Succeeded]
Find Anchors
[MSG:INFO: Requesting state change from Belts Extended to Finding Anchor]
[MSG:ERR: MaslowKinematics: Failed to compute X,Y from belt lengths, using (0,0)]
[MSG:ERR: MaslowKinematics: Failed to compute X,Y from belt lengths, using (0,0)]
[MSG:ERR: MaslowKinematics: Failed to compute X,Y from belt lengths, using (0,0)]
[G92:0.000,0.000,0.000,0.000,0.000]
[MSG:ERR: MaslowKinematics: Failed to compute X,Y from belt lengths, using (0,0)]
[MSG:INFO: Machine Position found as X: 11.220 Y: -16.286]
[MSG:INFO: Setting motor positions from hardware readings:]
[MSG:INFO: TL: 2138.875 TR: 2146.948 BL: 2148.033 BR: 2138.585]
[MSG:INFO: Succeeded]
[MSG:INFO: Detected HORIZONTAL orientation (extension <= 35.000 mm)]
[MSG:INFO: Orientation set to: HORIZONTAL (Maslow_vertical=false)]
[MSG:INFO: Measured waypoint 0]
[MSG:INFO: Center point off by: TL: 0.000 TR: 0.000 BL: 4.686 BR: 12.110]
[MSG:INFO: Machine Position computed as X: -2.896 Y: -15.785]
[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 Finding Anchor to Find Anchors Computing]
[MSG:INFO: Succeeded]
CLBM:[{bl:2265.74, br:2286.52, tr:2310.51, tl:2278.39},{bl:2385.68, br:2177.11, tr:2194.35, tl:2390.04},{bl:2491.53, br:2272.69, tr:2084.40, tl:2310.59},{bl:2377.78, br:2369.89, tr:2203.65, tl:2200.96},{bl:2266.31, br:2480.88, tr:2326.74, tl:2083.85},{bl:2139.42, br:2384.15, tr:2437.81, tl:2186.40},]
Computing… This may take several minutesInitial guess fitness: 0.2129752
Frame dimensions: 3648.2mm x 2736.5mm (aspect ratio: 1.33:1)
Initial fitness >= 0.1 and frame is not square, skipping rectangular optimization and using initial guess directly.
Fitness: 1.6880049 in 100
Fitness: 2.0818642 in 200
Fitness: 2.2586771 in 300
Fitness: 2.2586771 in 400
Fitness: 2.2586771 in 500
Fitness: 2.2586771 in 600
Fitness: 2.2586771 in 700
Fitness: 2.2586771 in 800
Fitness: 2.2586771 in 900
Fitness: 2.2586771 in 1000
Fitness: 2.2586771 in 1100
Fitness: 2.2586771 in 1200

*Find Anchor Values:
Fitness: 2.2586771
Maslow_tlX: -5.6
Maslow_tlY: 2736.5
Maslow_trX: 3644.6
Maslow_trY: 2766.0
Maslow_blX: 0.0
Maslow_blY: 0.0
Maslow_brX: 3642.6
Maslow_brY: 0.0
A command to save these values has been successfully sent for you. Please check for any error messages.
[MSG:INFO: Spoilboard thickness set to 19.050 mm]
[MSG:INFO: Work thickness set to 12.700 mm]
Find Anchors
[MSG:INFO: Requesting state change from Find Anchors Computing to Finding Anchor]
[MSG:INFO: Machine Position found as X: -139.735 Y: -35.025]
[MSG:INFO: Setting motor positions from hardware readings:]
[G92:0.000,0.000,0.000,0.000,0.000]
[MSG:INFO: TL: 2035.680 TR: 2285.186 BL: 1986.315 BR: 2232.118]
[MSG:INFO: Succeeded]
[MSG:INFO: Measured waypoint 6]
[MSG:INFO: Measured waypoint 7]
[MSG:INFO: Measured waypoint 8]
[MSG:INFO: Measured waypoint 9]
[MSG:INFO: Measured waypoint 10]
[MSG:INFO: Measured waypoint 11]
[MSG:INFO: Measured waypoint 12]
[MSG:INFO: Measured waypoint 13]
[MSG:INFO: Measured waypoint 14]
[MSG:INFO: Requesting state change from Finding Anchor to Find Anchors Computing]
[MSG:INFO: Succeeded]
CLBM:[{bl:2265.74, br:2286.52, tr:2310.51, tl:2278.39},{bl:2385.68, br:2177.11, tr:2194.35, tl:2390.04},{bl:2491.53, br:2272.69, tr:2084.40, tl:2310.59},{bl:2377.78, br:2369.89, tr:2203.65, tl:2200.96},{bl:2266.31, br:2480.88, tr:2326.74, tl:2083.85},{bl:2139.42, br:2384.15, tr:2437.81, tl:2186.40},{bl:2248.18, br:2297.09, tr:2323.48, tl:2261.84},{bl:2235.81, br:2252.81, tr:2337.03, tl:2306.16},{bl:2069.69, br:2419.39, tr:2504.48, tl:2153.13},{bl:2089.92, br:2461.90, tr:2491.06, tl:2105.62},{bl:2134.15, br:2503.48, tr:2453.24, tl:2058.71},{bl:2290.50, br:2347.68, tr:2283.59, tl:2210.67},{bl:2450.23, br:2190.70, tr:2122.50, tl:2376.18},{bl:2462.08, br:2144.23, tr:2113.77, tl:2422.56},{bl:2424.40, br:2096.12, tr:2157.65, tl:2464.65},]
Computing… This may take several minutesInitial guess fitness: 0.3670663
Frame dimensions: 3650.2mm x 2736.5mm (aspect ratio: 1.33:1)
Initial fitness >= 0.1 and frame is not square, skipping rectangular optimization and using initial guess directly.
Fitness: 0.4802519 in 100
Fitness: 0.4962936 in 200
Fitness: 0.5074920 in 300

Fitness: 0.6521910 in 48800
Fitness: 0.6521910 in 48900
Fitness: 0.6521910 in 49000
Fitness: 0.6521910 in 49100
Fitness: 0.6521910 in 49200
Fitness: 0.6521910 in 49300
Fitness: 0.6521910 in 49400*

Find Anchor Values:
Fitness: 0.6521910
Maslow_tlX: -6.2
Maslow_tlY: 2493.0
Maslow_trX: 3823.1
Maslow_trY: 2509.0
Maslow_blX: 0.0
Maslow_blY: 0.0
Maslow_brX: 3808.3
Maslow_brY: 0.0
A command to save these values has been successfully sent for you. Please check for any error messages.
Find Anchors
[MSG:INFO: Requesting state change from Find Anchors Computing to Finding Anchor]
[G92:0.000,0.000,0.000,0.000,0.000]
[MSG:INFO: Machine Position found as X: 198.933 Y: -35.530]
[MSG:INFO: Setting motor positions from hardware readings:]
[MSG:INFO: TL: 2317.051 TR: 2007.819 BL: 2273.119 BR: 1947.880]
[MSG:INFO: Succeeded]
[MSG:INFO: Measured waypoint 15]
[MSG:INFO: Measured waypoint 16]
[MSG:INFO: Measured waypoint 17]
[MSG:INFO: Measured waypoint 18]
[MSG:INFO: Measured waypoint 19]
[MSG:INFO: Measured waypoint 20]
[MSG:INFO: Measured waypoint 21]
[MSG:INFO: Measured waypoint 22]
[MSG:INFO: Measured waypoint 23]
[MSG:INFO: Measured waypoint 24]
[MSG:INFO: Measured waypoint 25]
[MSG:INFO: Measured waypoint 26]
[MSG:INFO: Measured waypoint 27]
[MSG:INFO: Measured waypoint 28]
[MSG:INFO: Measured waypoint 29]
[MSG:INFO: Measured waypoint 30]
[MSG:INFO: Requesting state change from Finding Anchor to Find Anchors Computing]
[MSG:INFO: Succeeded]
CLBM:[{bl:2265.74, br:2286.52, tr:2310.51, tl:2278.39},{bl:2385.68, br:2177.11, tr:2194.35, tl:2390.04},{bl:2491.53, br:2272.69, tr:2084.40, tl:2310.59},{bl:2377.78, br:2369.89, tr:2203.65, tl:2200.96},{bl:2266.31, br:2480.88, tr:2326.74, tl:2083.85},{bl:2139.42, br:2384.15, tr:2437.81, tl:2186.40},{bl:2248.18, br:2297.09, tr:2323.48, tl:2261.84},{bl:2235.81, br:2252.81, tr:2337.03, tl:2306.16},{bl:2069.69, br:2419.39, tr:2504.48, tl:2153.13},{bl:2089.92, br:2461.90, tr:2491.06, tl:2105.62},{bl:2134.15, br:2503.48, tr:2453.24, tl:2058.71},{bl:2290.50, br:2347.68, tr:2283.59, tl:2210.67},{bl:2450.23, br:2190.70, tr:2122.50, tl:2376.18},{bl:2462.08, br:2144.23, tr:2113.77, tl:2422.56},{bl:2424.40, br:2096.12, tr:2157.65, tl:2464.65},{bl:2401.05, br:2048.72, tr:2190.84, tl:2508.74},{bl:2235.58, br:2182.49, tr:2342.09, tl:2379.21},{bl:2066.47, br:2356.30, tr:2505.32, tl:2219.60},{bl:1906.63, br:2531.13, tr:2672.27, tl:2068.55},{bl:1863.23, br:2582.93, tr:2718.14, tl:2027.81},{bl:1899.35, br:2622.33, tr:2695.73, tl:1980.06},{bl:1942.62, br:2656.82, tr:2664.17, tl:1931.31},{bl:1986.90, br:2693.75, tr:2633.91, tl:1883.49},{bl:2131.55, br:2578.94, tr:2470.25, tl:1981.33},{bl:2275.48, br:2416.24, tr:2304.78, tl:2142.90},{bl:2436.18, br:2253.73, tr:2136.13, tl:2315.73},{bl:2606.26, br:2095.60, tr:1971.51, tl:2494.09},{bl:2652.68, br:2052.51, tr:1927.10, tl:2546.80},{bl:2668.87, br:2006.87, tr:1923.12, tl:2594.75},{bl:2637.41, br:1959.84, tr:1963.70, tl:2628.56},{bl:2607.61, br:1912.32, tr:2007.11, tl:2665.51},]
Computing… This may take several minutesInitial guess fitness: 0.4868994
Frame dimensions: 3829.3mm x 2493.0mm (aspect ratio: 1.54:1)
Initial fitness >= 0.1 and frame is not square, skipping rectangular optimization and using initial guess directly.
Fitness: 0.4868994 in 100
Fitness: 0.4868994 in 200
Fitness: 0.4868994 in 300
Fitness: 0.4868994 in 400
Fitness: 0.4868994 in 500
Fitness: 0.4868994 in 600
Fitness: 0.4868994 in 700
Fitness: 0.4868994 in 800
Fitness: 0.4868994 in 900
Fitness: 0.4868994 in 1000

Find Anchor Values:
Fitness: 0.4868994
Maslow_tlX: -6.2
Maslow_tlY: 2493.0
Maslow_trX: 3823.7
Maslow_trY: 2509.0
Maslow_blX: 0.0
Maslow_blY: 0.0
Maslow_brX: 3808.3
Maslow_brY: 0.0
A command to save these values has been successfully sent for you. Please check for any error messages.
Find Anchors
[MSG:INFO: Requesting state change from Find Anchors Computing to Finding Anchor]
[MSG:INFO: Machine Position found as X: 415.538 Y: -62.720]
[G92:0.000,0.000,0.000,0.000,0.000]
[MSG:INFO: Setting motor positions from hardware readings:]
[MSG:INFO: TL: 2517.429 TR: 1857.557 BL: 2456.276 BR: 1764.615]
[MSG:INFO: Succeeded]
[MSG:INFO: Measured waypoint 31]
[MSG:INFO: Measured waypoint 32]
[MSG:INFO: Measured waypoint 33]
[MSG:INFO: Measured waypoint 34]
[MSG:INFO: Measured waypoint 35]
[MSG:INFO: Measured waypoint 36]
[MSG:INFO: Measured waypoint 37]
[MSG:INFO: Measured waypoint 38]
[MSG:INFO: Measured waypoint 39]
[MSG:INFO: Measured waypoint 40]
[MSG:INFO: Measured waypoint 41]
[MSG:INFO: Measured waypoint 42]
[MSG:INFO: Measured waypoint 43]
[MSG:INFO: Measured waypoint 44]
[MSG:INFO: Measured waypoint 45]
[MSG:INFO: Measured waypoint 46]
[MSG:INFO: Measured waypoint 47]
[MSG:INFO: Measured waypoint 48]
[MSG:INFO: Measured waypoint 49]
[MSG:INFO: Measured waypoint 50]
[MSG:INFO: Measured waypoint 51]
[MSG:INFO: Measured waypoint 52]
[MSG:INFO: Measured waypoint 53]
[MSG:INFO: Measured waypoint 54]
[MSG:INFO: Requesting state change from Finding Anchor to Find Anchors Computing]
[MSG:INFO: Succeeded]
CLBM:[{bl:2265.74, br:2286.52, tr:2310.51, tl:2278.39},{bl:2385.68, br:2177.11, tr:2194.35, tl:2390.04},{bl:2491.53, br:2272.69, tr:2084.40, tl:2310.59},{bl:2377.78, br:2369.89, tr:2203.65, tl:2200.96},{bl:2266.31, br:2480.88, tr:2326.74, tl:2083.85},{bl:2139.42, br:2384.15, tr:2437.81, tl:2186.40},{bl:2248.18, br:2297.09, tr:2323.48, tl:2261.84},{bl:2235.81, br:2252.81, tr:2337.03, tl:2306.16},{bl:2069.69, br:2419.39, tr:2504.48, tl:2153.13},{bl:2089.92, br:2461.90, tr:2491.06, tl:2105.62},{bl:2134.15, br:2503.48, tr:2453.24, tl:2058.71},{bl:2290.50, br:2347.68, tr:2283.59, tl:2210.67},{bl:2450.23, br:2190.70, tr:2122.50, tl:2376.18},{bl:2462.08, br:2144.23, tr:2113.77, tl:2422.56},{bl:2424.40, br:2096.12, tr:2157.65, tl:2464.65},{bl:2401.05, br:2048.72, tr:2190.84, tl:2508.74},{bl:2235.58, br:2182.49, tr:2342.09, tl:2379.21},{bl:2066.47, br:2356.30, tr:2505.32, tl:2219.60},{bl:1906.63, br:2531.13, tr:2672.27, tl:2068.55},{bl:1863.23, br:2582.93, tr:2718.14, tl:2027.81},{bl:1899.35, br:2622.33, tr:2695.73, tl:1980.06},{bl:1942.62, br:2656.82, tr:2664.17, tl:1931.31},{bl:1986.90, br:2693.75, tr:2633.91, tl:1883.49},{bl:2131.55, br:2578.94, tr:2470.25, tl:1981.33},{bl:2275.48, br:2416.24, tr:2304.78, tl:2142.90},{bl:2436.18, br:2253.73, tr:2136.13, tl:2315.73},{bl:2606.26, br:2095.60, tr:1971.51, tl:2494.09},{bl:2652.68, br:2052.51, tr:1927.10, tl:2546.80},{bl:2668.87, br:2006.87, tr:1923.12, tl:2594.75},{bl:2637.41, br:1959.84, tr:1963.70, tl:2628.56},{bl:2607.61, br:1912.32, tr:2007.11, tl:2665.51},{bl:2573.13, br:1863.55, tr:2056.84, tl:2705.11},{bl:2412.81, br:1947.93, tr:2202.08, tl:2610.37},{bl:2243.48, br:2118.17, tr:2343.44, tl:2445.36},{bl:2074.05, br:2292.87, tr:2498.42, tl:2286.77},{bl:1909.94, br:2469.72, tr:2662.68, tl:2133.30},{bl:1756.18, br:2647.11, tr:2830.88, tl:1992.41},{bl:1714.48, br:2698.99, tr:2877.79, tl:1957.58},{bl:1687.79, br:2752.17, tr:2922.57, tl:1919.74},{bl:1721.17, br:2786.16, tr:2899.48, tl:1872.68},{bl:1764.55, br:2816.65, tr:2870.10, tl:1824.36},{bl:1811.04, br:2848.98, tr:2842.23, tl:1775.22},{bl:1856.37, br:2882.43, tr:2815.73, tl:1725.52},{bl:2001.10, br:2810.01, tr:2660.36, tl:1764.68},{bl:2124.44, br:2650.65, tr:2495.85, tl:1910.44},{bl:2263.58, br:2486.35, tr:2327.19, tl:2072.40},{bl:2414.47, br:2325.84, tr:2160.10, tl:2244.03},{bl:2580.17, br:2166.78, tr:1992.31, tl:2423.12},{bl:2746.35, br:2018.60, tr:1837.95, tl:2601.06},{bl:2793.07, br:1979.67, tr:1795.41, tl:2653.72},{bl:2839.58, br:1941.18, tr:1754.29, tl:2705.29},{bl:2867.76, br:1901.96, tr:1750.35, tl:2749.75},{bl:2843.42, br:1854.61, tr:1782.74, tl:2785.12},{bl:2815.25, br:1805.68, tr:1827.35, tl:2818.54},{bl:2788.85, br:1760.60, tr:1870.46, tl:2848.75},]
Computing… This may take several minutesInitial guess fitness: 0.2687481
Frame dimensions: 3829.9mm x 2493.0mm (aspect ratio: 1.54:1)
Initial fitness >= 0.1 and frame is not square, skipping rectangular optimization and using initial guess directly.
Fitness: 0.2687481 in 100
Fitness: 0.2687481 in 200
Fitness: 0.2687481 in 300

Fitness: 0.5440101 in 19600
Fitness: 0.5440101 in 19700
Fitness: 0.5440101 in 19800
Fitness: 0.5440101 in 19900*

*Find Anchor Values:
Fitness: 0.5440101
Maslow_tlX: 2.7
Maslow_tlY: 2693.2
Maslow_trX: 3690.2
Maslow_trY: 2700.0
Maslow_blX: 0.0
Maslow_blY: 0.0
Maslow_brX: 3676.0
Maslow_brY: 0.0
A command to save these values has been successfully sent for you. Please check for any error messages.
Find Anchors
[MSG:INFO: Requesting state change from Find Anchors Computing to Finding Anchor]
[MSG:INFO: Machine Position found as X: 635.173 Y: -68.207]
[MSG:INFO: Setting motor positions from hardware readings:]
[MSG:INFO: TL: 2700.318 TR: 1721.220 BL: 2637.384 BR: 1613.429]
[MSG:INFO: Succeeded]
[G92:0.000,0.000,0.000,0.000,0.000]
[MSG:INFO: Measured waypoint 55]
[MSG:INFO: Measured waypoint 56]
[MSG:INFO: Measured waypoint 57]
[MSG:INFO: Measured waypoint 58]
[MSG:INFO: Measured waypoint 59]
[MSG:INFO: Measured waypoint 60]
[MSG:INFO: Measured waypoint 61]
[MSG:INFO: Measured waypoint 62]
[MSG:INFO: Measured waypoint 63]
[MSG:INFO: Measured waypoint 64]
[MSG:INFO: Measured waypoint 65]
[MSG:INFO: Measured waypoint 66]
[MSG:INFO: Measured waypoint 67]
[MSG:INFO: Measured waypoint 68]
[MSG:INFO: Measured waypoint 69]
[MSG:INFO: Measured waypoint 70]
[MSG:INFO: Measured waypoint 71]
[MSG:INFO: Measured waypoint 72]
[MSG:INFO: Measured waypoint 73]
[MSG:INFO: Measured waypoint 74]
[MSG:INFO: Measured waypoint 75]
[MSG:INFO: Measured waypoint 76]
[MSG:INFO: Measured waypoint 77]
[MSG:INFO: Measured waypoint 78]
[MSG:INFO: Measured waypoint 79]
[MSG:INFO: Measured waypoint 80]
[MSG:INFO: Measured waypoint 81]
[MSG:INFO: Measured waypoint 82]
[MSG:INFO: Measured waypoint 83]
[MSG:INFO: Measured waypoint 84]
[MSG:INFO: Measured waypoint 85]
[MSG:INFO: Measured waypoint 86]
[MSG:INFO: Requesting state change from Finding Anchor to Find Anchors Computing]
[MSG:INFO: Succeeded]
CLBM:[{bl:2265.74, br:2286.52, tr:2310.51, tl:2278.39},{bl:2385.68, br:2177.11, tr:2194.35, tl:2390.04},{bl:2491.53, br:2272.69, tr:2084.40, tl:2310.59},{bl:2377.78, br:2369.89, tr:2203.65, tl:2200.96},{bl:2266.31, br:2480.88, tr:2326.74, tl:2083.85},{bl:2139.42, br:2384.15, tr:2437.81, tl:2186.40},{bl:2248.18, br:2297.09, tr:2323.48, tl:2261.84},{bl:2235.81, br:2252.81, tr:2337.03, tl:2306.16},{bl:2069.69, br:2419.39, tr:2504.48, tl:2153.13},{bl:2089.92, br:2461.90, tr:2491.06, tl:2105.62},{bl:2134.15, br:2503.48, tr:2453.24, tl:2058.71},{bl:2290.50, br:2347.68, tr:2283.59, tl:2210.67},{bl:2450.23, br:2190.70, tr:2122.50, tl:2376.18},{bl:2462.08, br:2144.23, tr:2113.77, tl:2422.56},{bl:2424.40, br:2096.12, tr:2157.65, tl:2464.65},{bl:2401.05, br:2048.72, tr:2190.84, tl:2508.74},{bl:2235.58, br:2182.49, tr:2342.09, tl:2379.21},{bl:2066.47, br:2356.30, tr:2505.32, tl:2219.60},{bl:1906.63, br:2531.13, tr:2672.27, tl:2068.55},{bl:1863.23, br:2582.93, tr:2718.14, tl:2027.81},{bl:1899.35, br:2622.33, tr:2695.73, tl:1980.06},{bl:1942.62, br:2656.82, tr:2664.17, tl:1931.31},{bl:1986.90, br:2693.75, tr:2633.91, tl:1883.49},{bl:2131.55, br:2578.94, tr:2470.25, tl:1981.33},{bl:2275.48, br:2416.24, tr:2304.78, tl:2142.90},{bl:2436.18, br:2253.73, tr:2136.13, tl:2315.73},{bl:2606.26, br:2095.60, tr:1971.51, tl:2494.09},{bl:2652.68, br:2052.51, tr:1927.10, tl:2546.80},{bl:2668.87, br:2006.87, tr:1923.12, tl:2594.75},{bl:2637.41, br:1959.84, tr:1963.70, tl:2628.56},{bl:2607.61, br:1912.32, tr:2007.11, tl:2665.51},{bl:2573.13, br:1863.55, tr:2056.84, tl:2705.11},{bl:2412.81, br:1947.93, tr:2202.08, tl:2610.37},{bl:2243.48, br:2118.17, tr:2343.44, tl:2445.36},{bl:2074.05, br:2292.87, tr:2498.42, tl:2286.77},{bl:1909.94, br:2469.72, tr:2662.68, tl:2133.30},{bl:1756.18, br:2647.11, tr:2830.88, tl:1992.41},{bl:1714.48, br:2698.99, tr:2877.79, tl:1957.58},{bl:1687.79, br:2752.17, tr:2922.57, tl:1919.74},{bl:1721.17, br:2786.16, tr:2899.48, tl:1872.68},{bl:1764.55, br:2816.65, tr:2870.10, tl:1824.36},{bl:1811.04, br:2848.98, tr:2842.23, tl:1775.22},{bl:1856.37, br:2882.43, tr:2815.73, tl:1725.52},{bl:2001.10, br:2810.01, tr:2660.36, tl:1764.68},{bl:2124.44, br:2650.65, tr:2495.85, tl:1910.44},{bl:2263.58, br:2486.35, tr:2327.19, tl:2072.40},{bl:2414.47, br:2325.84, tr:2160.10, tl:2244.03},{bl:2580.17, br:2166.78, tr:1992.31, tl:2423.12},{bl:2746.35, br:2018.60, tr:1837.95, tl:2601.06},{bl:2793.07, br:1979.67, tr:1795.41, tl:2653.72},{bl:2839.58, br:1941.18, tr:1754.29, tl:2705.29},{bl:2867.76, br:1901.96, tr:1750.35, tl:2749.75},{bl:2843.42, br:1854.61, tr:1782.74, tl:2785.12},{bl:2815.25, br:1805.68, tr:1827.35, tl:2818.54},{bl:2788.85, br:1760.60, tr:1870.46, tl:2848.75},{bl:2750.19, br:1715.21, tr:1920.83, tl:2877.39},{bl:2604.20, br:1730.62, tr:2076.09, tl:2835.38},{bl:2436.20, br:1885.40, tr:2197.12, tl:2675.11},{bl:2270.98, br:2048.53, tr:2328.34, tl:2514.87},{bl:2101.51, br:2224.21, tr:2476.34, tl:2355.86},{bl:1932.96, br:2403.13, tr:2637.90, tl:2199.65},{bl:1772.15, br:2583.87, tr:2805.61, tl:2054.33},{bl:1624.98, br:2759.62, tr:2973.12, tl:1930.93},{bl:1589.62, br:2809.20, tr:3015.90, tl:1900.85},{bl:1550.82, br:2861.28, tr:3062.14, tl:1868.17},{bl:1567.50, br:2905.91, tr:3089.63, tl:1828.30},{bl:1596.65, br:2938.12, tr:3089.54, tl:1780.46},{bl:1628.36, br:2970.00, tr:3089.19, tl:1732.28},{bl:1656.56, br:3002.12, tr:3067.15, tl:1685.94},{bl:1686.84, br:3037.46, tr:3061.42, tl:1638.95},{bl:1719.08, br:3070.78, tr:3053.75, tl:1591.26},{bl:1871.43, br:3038.28, tr:2899.66, tl:1566.70},{bl:1923.13, br:2887.03, tr:2759.42, tl:1704.42},{bl:2037.11, br:2730.51, tr:2598.58, tl:1842.89},{bl:2171.28, br:2570.38, tr:2430.58, tl:1992.46},{bl:2313.98, br:2410.11, tr:2266.72, tl:2153.95},{bl:2476.48, br:2248.91, tr:2095.47, tl:2327.91},{bl:2642.29, br:2094.67, tr:1933.55, tl:2503.39},{bl:2811.58, br:1952.17, tr:1782.85, tl:2680.14},{bl:2858.66, br:1916.61, tr:1742.82, tl:2731.74},{bl:2903.84, br:1882.45, tr:1704.27, tl:2781.02},{bl:2950.03, br:1845.59, tr:1670.24, tl:2831.96},{bl:2995.38, br:1809.91, tr:1640.39, tl:2883.21},{bl:2999.01, br:1765.02, tr:1664.92, tl:2925.26},{bl:2999.12, br:1718.58, tr:1686.79, tl:2962.18},{bl:2999.12, br:1671.28, tr:1704.71, tl:3001.30},{bl:2963.14, br:1625.41, tr:1757.38, tl:3029.37},]
Computing… This may take several minutesInitial guess fitness: 0.2775696
Frame dimensions: 3687.5mm x 2693.2mm (aspect ratio: 1.37:1)
Initial fitness >= 0.1 and frame is not square, skipping rectangular optimization and using initial guess directly.
Fitness: 0.2775696 in 100
Fitness: 0.2775696 in 200
Fitness: 0.2775696 in 300

Fitness: 0.2775696 in 800
Fitness: 0.2775696 in 900
Fitness: 0.2775696 in 1000*

*Calculated Fitness Too Low (0.2775696 < 0.45). Retry 1/10…
Find Anchor Values:
Fitness: 0.2775696
Maslow_tlX: 2.7
Maslow_tlY: 2693.2
Maslow_trX: 3692.4
Maslow_trY: 2700.0
Maslow_blX: 0.0
Maslow_blY: 0.0
Maslow_brX: 3676.0
Maslow_brY: 0.0
Restarting with random perturbations (±50mm)Fitness: 0.2293773 in 100
Fitness: 0.2381071 in 200
Fitness: 0.2407773 in 300
Fitness: 0.2416123 in 400

Fitness: 0.2421854 in 6800
Fitness: 0.2421854 in 6900
Fitness: 0.2421854 in 7000
Fitness: 0.2421854 in 7100
Fitness: 0.2421854 in 7200
Fitness: 0.2421854 in 7300
Fitness: 0.2421854 in 7400*

*Calculated Fitness Too Low (0.2421854 < 0.45). Retry 2/10…
Find Anchor Values:
Fitness: 0.2421854
Maslow_tlX: -5.8
Maslow_tlY: 2707.3
Maslow_trX: 3684.4
Maslow_trY: 2711.6
Maslow_blX: 0.0
Maslow_blY: 0.0
Maslow_brX: 3655.9
Maslow_brY: 0.0
Restarting with random perturbations (±50mm)Fitness: 0.2149547 in 100
Fitness: 0.2279853 in 200
Fitness: 0.2357235 in 300
Fitness: 0.2388338 in 400
Fitness: 0.2403906 in 500
Fitness: 0.2412505 in 600

Fitness: 0.2421850 in 3600
Fitness: 0.2421850 in 3700*

Calculated Fitness Too Low (0.2421850 < 0.45). Retry 3/10…
Find Anchor Values:
Fitness: 0.2421850
Maslow_tlX: -5.8
Maslow_tlY: 2707.3
Maslow_trX: 3684.4
Maslow_trY: 2711.6
Maslow_blX: 0.0
Maslow_blY: 0.0
Maslow_brX: 3655.9
Maslow_brY: 0.0
Restarting with random perturbations (±50mm)Fitness: 0.2242525 in 100
Fitness: 0.2370195 in 200
Fitness: 0.2412175 in 300
Fitness: 0.2418879 in 400
Fitness: 0.2425919 in 500

Fitness: 0.2426388 in 1200
Fitness: 0.2426388 in 1300
Fitness: 0.2426388 in 1400
Fitness: 0.2426388 in 1500

*Calculated Fitness Too Low (0.2426388 < 0.45). Retry 4/10…
Find Anchor Values:
Fitness: 0.2426388
Maslow_tlX: -6.7
Maslow_tlY: 2712.6
Maslow_trX: 3679.3
Maslow_trY: 2718.1
Maslow_blX: 0.0
Maslow_blY: 0.0
Maslow_brX: 3650.8
Maslow_brY: 0.0
Restarting with random perturbations (±50mm)Fitness: 0.2391126 in 100
Fitness: 0.2401563 in 200
Fitness: 0.2409993 in 300
Fitness: 0.2416109 in 400
Fitness: 0.2418794 in 500

Fitness: 0.2421850 in 2900
Fitness: 0.2421850 in 3000
Fitness: 0.2421850 in 3100
Fitness: 0.2421850 in 3200*

*Calculated Fitness Too Low (0.2421850 < 0.45). Retry 5/10…
Find Anchor Values:
Fitness: 0.2421850
Maslow_tlX: -5.8
Maslow_tlY: 2707.3
Maslow_trX: 3684.4
Maslow_trY: 2711.6
Maslow_blX: 0.0
Maslow_blY: 0.0
Maslow_brX: 3655.9
Maslow_brY: 0.0
Restarting with random perturbations (±50mm)Fitness: 0.2364239 in 100
Fitness: 0.2405934 in 200
Fitness: 0.2415828 in 300
Fitness: 0.2416762 in 400
Fitness: 0.2417562 in 500

Fitness: 0.2421854 in 8700
Fitness: 0.2421854 in 8800
Fitness: 0.2421854 in 8900
Fitness: 0.2421854 in 9000*

*Calculated Fitness Too Low (0.2421854 < 0.45). Retry 6/10…
Find Anchor Values:
Fitness: 0.2421854
Maslow_tlX: -5.8
Maslow_tlY: 2707.3
Maslow_trX: 3684.4
Maslow_trY: 2711.6
Maslow_blX: 0.0
Maslow_blY: 0.0
Maslow_brX: 3655.9
Maslow_brY: 0.0
Restarting with random perturbations (±50mm)Fitness: 0.2355527 in 100
Fitness: 0.2375029 in 200
Fitness: 0.2384240 in 300

Fitness: 0.2434971 in 1900
Fitness: 0.2434971 in 2000*

*Calculated Fitness Too Low (0.2434971 < 0.45). Retry 7/10…
Find Anchor Values:
Fitness: 0.2434971
Maslow_tlX: -4.2
Maslow_tlY: 2694.5
Maslow_trX: 3690.3
Maslow_trY: 2704.5
Maslow_blX: 0.0
Maslow_blY: 0.0
Maslow_brX: 3667.3
Maslow_brY: 0.0
Restarting with random perturbations (±50mm)Fitness: 0.2389902 in 100
Fitness: 0.2412030 in 200
Fitness: 0.2413975 in 300

Fitness: 0.2424284 in 2000
Fitness: 0.2424284 in 2100
Fitness: 0.2424284 in 2200*

*Calculated Fitness Too Low (0.2424284 < 0.45). Retry 8/10…
Find Anchor Values:
Fitness: 0.2424284
Maslow_tlX: -7.3
Maslow_tlY: 2713.0
Maslow_trX: 3678.1
Maslow_trY: 2719.6
Maslow_blX: 0.0
Maslow_blY: 0.0
Maslow_brX: 3649.9
Maslow_brY: 0.0
Restarting with random perturbations (±50mm)Fitness: 0.2228729 in 100
Fitness: 0.2267407 in 200
Fitness: 0.2269103 in 300

Fitness: 0.2424140 in 8200
Fitness: 0.2424140 in 8300
Fitness: 0.2424140 in 8400*

*Calculated Fitness Too Low (0.2424140 < 0.45). Retry 9/10…
Find Anchor Values:
Fitness: 0.2424140
Maslow_tlX: -6.6
Maslow_tlY: 2710.7
Maslow_trX: 3681.0
Maslow_trY: 2715.9
Maslow_blX: 0.0
Maslow_blY: 0.0
Maslow_brX: 3652.5
Maslow_brY: 0.0
Restarting with random perturbations (±50mm)Fitness: 0.2377426 in 100
Fitness: 0.2448413 in 200
Fitness: 0.2454894 in 300

Fitness: 0.2454894 in 1100
Fitness: 0.2454894 in 1200*

*Calculated Fitness Too Low (0.2454894 < 0.45). Retry 10/10…
Find Anchor Values:
Fitness: 0.2454894
Maslow_tlX: -6.3
Maslow_tlY: 2702.1
Maslow_trX: 3681.3
Maslow_trY: 2716.1
Maslow_blX: 0.0
Maslow_blY: 0.0
Maslow_brX: 3659.2
Maslow_brY: 0.0
Restarting with random perturbations (±50mm)Fitness: 0.2298015 in 100
Fitness: 0.2358893 in 200
Fitness: 0.2364817 in 300

Fitness: 0.2424173 in 4100
Fitness: 0.2424173 in 4200
Fitness: 0.2424173 in 4300*

Calculated Fitness Too Low (0.2424173 < 0.45).

Maximum retry attempts (10) reached.
Best fitness achieved: 0.2775696
Updating initial frame size with best estimate from all attempts.

Find Anchors stopped due to low fitness after maximum retries.
Options:

1. Click “Find Anchors” to restart.
2. Check to make sure that all four belts are fully tight with each measurement.
3. Check to see if the frame could be flexing when the measurements are taken which will lead to inacruate measurements.
   [MSG:INFO: Find Anchors state reset]
   [MSG:INFO: Requesting state change from Find Anchors Computing to Belts Extended]
   [MSG:INFO: Succeeded]

So I think I have three things I don’t understand:

1. Can I use my linux laptop to run my Maslow?

2. Is it possible to reduce the size of the calibration grid? My attempts seem to have failed. Can I edit the yaml file directly?

3. Does it matter if all four of the cables are not tight at the calibration points on the far right and far left? If it does, is there a fix?

[dlang]

darylp62 wrote:

I had several failed calibration attempts that have taught me that I don’t completely understand the process.

My frame is horizontal on my shop floor about 12’ x 9’. The anchor’s are
threaded inserts in the concrete floor. I have my retraction force set to
950.

did you set the spoilboard thickness?

My first two attempts were done using my Unbuntu laptop using the Brave
browser and the Chromium browser. Both failed with the following error:

[MSG:ERR: Calibration data not acknowledged by computer, resending]*

Is this due to the browser and or operating system? I would prefer to use this environment if possible.

is there more than one browser window open? you may need to raise the shields on
brave, but chromium should work

My next five attempts were using Windows with the Edge browser. For the first
two I used 3d printed floor anchor points from the Not Shop. I switched to
bolting the anchors to the floor for the next three attempts. For the last
two attempts I tried to reduce the size of the calibration grid from 9 down to
7 then down to 3. I followed the set, save, and restart procedure. The
process still tested 80 plus waypoints. It seems like my attempt to modify
the size of the grid didn’t work, is it possible to reduce the size of the
grid?

not any more, now it auto-computes the area checked and the number of points
checked

For the final set of waypoints on the far right and far left one of the
cables was not tight. I’m assuming this had something to do with my failure.

yes, the current algorithm doesn’t have the ability to detect that some point
measurements are outliers from the others, so it tries to get them all to fit

double check that everything still reliably retracts at your current retraction
force. there are ways that the arms can go from mild issues to severe issues in
a very short timeframe.

the spoilboard thickness needs to be set as well (if it wasn’t) or the
calculations won’t be correct.

also make sure the router was down all the way or the Z height will be wrong
throwing the calculation off

but if the belts aren’t pulling tight, none of that will matter, so you need to
check that it’s still retracting reliably before anything else

the fact that the fitness goes down the more points and the further out you go
makes me think that the Z values (spoilboard, router height) are not correct,
because the numbers it’s getting as it moves further out don’t match with the
early numbers.

getting a high fitness score with a small number of points does not give you a
usable machine, it just gives you a false sense of accuracy, that is part of the
reason we went away from manually setting the grid area and point count.

David Lang

[darylp62]

David,

Thanks for your prompt reply. I did my test on 3/4" foam backer board and a 1/2" sheet of plywood. For the tests with the 3D printed anchors I used a spoilboard value of 4mm. The 19mm thickness of the backer board less the 15mm height of the 3D printed anchors. For the test without the anchors I used 19mm for the spoilboard. For all the tests I used 12.7mm for the work piece thickness.

I believe I did set the router at the Z stop. I will triple check that tomorrow when I try again.

It sounds like my retraction force might be a variable to work with. Initially I set it to 900 and my upper right arm didn’t retract reliably. I moved it to 950 for my tests. I will try increasing it till I get tight cables at every waypoint.

I’m wondering if I should pull the machine apart and rebuild the upper right arm. If I am able to get it calibrated at say 1100 retraction force could I start to test lower numbers in actual use?

Daryl

[dlang]

darylp62 wrote:

Thanks for your prompt reply. I did my test on 3/4" foam backer board and a
1/2" sheet of plywood. For the tests with the 3D printed anchors I used a
spoilboard value of 4mm. The 19mm thickness of the backer board less the 15mm
height of the 3D printed anchors. For the test without the anchors I used
19mm for the spoilboard. For all the tests I used 12.7mm for the work piece
thickness.

that sounds right. I would make sure that workpiece thickness is 0 while you do
calibration (I don’t know if it has special code to ignore workpiece thickness
during calibration or not)

It sounds like my retraction force might be a variable to work with.
Initially I set it to 900 and my upper right arm didn’t retract reliably. I
moved it to 950 for my tests. I will try increasing it till I get tight
cables at every waypoint.

I’m wondering if I should pull the machine apart and rebuild the upper right
arm. If I am able to get it calibrated at say 1100 retraction force could I
start to test lower numbers in actual use?

the retraction force limit is only used when you do retract-all or calibration,
it’s not used during normal operation.

if you have one arm that is significantly stiffer than the others, it would be a
good idea to re-do that arm. people who have gone through their arms carefully
report being able to get down to 600 or so for reliable full retraction.

David Lang

[darylp62]

David, thanks again for your help. I pulled my arms apart and sanded the spools. One concerning thing I found was in two of the arms the set screw that holds the drive gear in place was loose. I’m second guessing my choice to not use locktite on reassembly. After sanding I was able to reliably retract at 550. I used 600 to calibrate and I was able to calibrate on my first try. My fitness was only .45. Perfect being the enemy of good enough, I’m going to try some test cuts.

Am I right to assume that the path to a higher fitness number would involve improvements to my frame? It is out of square by 1/2 inch.

[dlang]

darylp62 wrote:

David, thanks again for your help. I pulled my arms apart and sanded the
spools. One concerning thing I found was in two of the arms the set screw
that holds the drive gear in place was loose. I’m second guessing my choice
to not use locktite on reassembly.

if you do, use low strength (green) locktite in case you ever need to open
things up again (or at most blue)

having the gears lose will mean that they rub against the plastic, creating
plastic dust that will gum things up.

After sanding I was able to reliably
retract at 550. I used 600 to calibrate and I was able to calibrate on my
first try. My fitness was only .45. Perfect being the enemy of good enough,
I’m going to try some test cuts.

that’s a really good reatraction

with ground anchors and correct Z height, I would have expected a better fitness
result. at the end of calibration, there is a large array in the logs showing
the belt lengths at each point (the CLBM line), if you can post that, we can
look at it to see if we can identify where points are ‘off’

you may also want to look at my bolt down anchors thread with the tower anchors
that raise the anchors to close to level and see if that helps

Am I right to assume that the path to a higher fitness number would involve improvements to my frame? It is out of square by 1/2 inch.

improvements to your frame yes, but being out of square is not the issue.
anchors flexing or the Z height being wrong would be more likely to be the
problem

David Lang

[darylp62]

Here is the CLBM data

MSG:INFO: Requesting state change from Finding Anchor to Find Anchors Computing]
[MSG:INFO: Succeeded]
CLBM:[{bl:2222.28, br:2212.17, tr:2273.51, tl:2269.51},{bl:2337.46, br:2099.44, tr:2164.52, tl:2383.17},{bl:2443.69, br:2201.82, tr:2051.36, tl:2296.43},{bl:2329.10, br:2302.28, tr:2169.06, tl:2183.84},{bl:2215.49, br:2419.85, tr:2293.33, tl:2061.39},{bl:2094.44, br:2316.27, tr:2401.57, tl:2172.61},{bl:2199.17, br:2246.04, tr:2297.18, tl:2233.18},{bl:2203.13, br:2205.14, tr:2292.61, tl:2274.96},{bl:2036.81, br:2374.30, tr:2460.45, tl:2118.28},{bl:2063.19, br:2417.77, tr:2439.56, tl:2071.10},{bl:2108.55, br:2457.00, tr:2401.58, tl:2024.91},{bl:2261.11, br:2297.39, tr:2236.50, tl:2183.70},{bl:2428.03, br:2132.41, tr:2068.57, tl:2359.33},{bl:2424.04, br:2086.81, tr:2077.49, tl:2402.02},{bl:2386.08, br:2039.21, tr:2122.55, tl:2443.71},{bl:2349.70, br:1990.65, tr:2169.51, tl:2489.77},{bl:2182.33, br:2151.76, tr:2318.78, tl:2333.83},{bl:2014.87, br:2326.40, tr:2480.47, tl:2172.99},{bl:1852.12, br:2504.89, tr:2650.59, tl:2019.21},{bl:1850.53, br:2551.81, tr:2662.09, tl:1978.02},{bl:1896.99, br:2587.94, tr:2625.38, tl:1927.77},{bl:1945.24, br:2623.73, tr:2590.04, tl:1879.17},{bl:1994.96, br:2661.76, tr:2556.38, tl:1830.99},{bl:2131.30, br:2521.81, tr:2394.44, tl:1959.41},{bl:2269.79, br:2363.22, tr:2234.23, tl:2119.42},{bl:2426.66, br:2203.19, tr:2069.19, tl:2292.11},{bl:2592.88, br:2049.59, tr:1908.55, tl:2467.36},{bl:2639.44, br:2005.87, tr:1867.75, tl:2521.42},{bl:2610.65, br:1957.41, tr:1906.24, tl:2559.34},{bl:2575.38, br:1909.75, tr:1952.46, tl:2594.36},{bl:2541.61, br:1860.12, tr:2001.35, tl:2633.78},{bl:2509.52, br:1809.97, tr:2051.31, tl:2676.87},{bl:2347.61, br:1927.29, tr:2188.48, tl:2554.63},{bl:2183.55, br:2094.67, tr:2326.16, tl:2392.73},{bl:2014.92, br:2270.70, tr:2481.45, tl:2233.01},{bl:1850.92, br:2446.75, tr:2645.14, tl:2081.35},{bl:1701.29, br:2621.31, tr:2807.87, tl:1946.23},{bl:1661.99, br:2671.28, tr:2852.53, tl:1915.69},{bl:1681.42, br:2712.45, tr:2854.06, tl:1873.35},{bl:1726.31, br:2740.82, tr:2820.35, tl:1824.82},{bl:1775.01, br:2772.33, tr:2788.09, tl:1774.86},{bl:1824.22, br:2804.93, tr:2756.81, tl:1725.62},{bl:1875.58, br:2838.74, tr:2727.07, tl:1676.88},{bl:2012.82, br:2744.30, tr:2571.10, tl:1745.72},{bl:2135.32, br:2586.17, tr:2407.56, tl:1895.65},{bl:2267.13, br:2426.97, tr:2246.82, tl:2056.23},{bl:2418.93, br:2266.89, tr:2079.39, tl:2230.42},{bl:2580.00, br:2111.80, tr:1916.20, tl:2407.64},{bl:2743.98, br:1967.06, tr:1762.22, tl:2587.01},{bl:2789.37, br:1929.33, tr:1721.26, tl:2639.40},{bl:2827.20, br:1889.64, tr:1710.65, tl:2689.24},{bl:2816.28, br:1839.71, tr:1730.15, tl:2729.78},{bl:2773.89, br:1790.12, tr:1782.84, tl:2758.46},{bl:2741.80, br:1740.70, tr:1834.59, tl:2790.19},{bl:2711.92, br:1690.15, tr:1887.18, tl:2825.23},{bl:2683.95, br:1639.68, tr:1938.83, tl:2863.44},{bl:2522.01, br:1712.17, tr:2079.59, tl:2773.06},{bl:2360.20, br:1867.13, tr:2194.28, tl:2614.49},{bl:2196.19, br:2035.63, tr:2324.79, tl:2452.41},{bl:2028.05, br:2212.17, tr:2472.75, tl:2292.77},{bl:1867.03, br:2385.48, tr:2626.94, tl:2143.05},{bl:1711.94, br:2563.44, tr:2789.67, tl:2003.84},{bl:1567.37, br:2740.02, tr:2954.86, tl:1881.22},{bl:1528.95, br:2794.00, tr:3001.43, tl:1853.32},{bl:1505.84, br:2846.33, tr:3047.41, tl:1820.65},{bl:1529.66, br:2885.35, tr:3052.07, tl:1774.63},{bl:1567.53, br:2914.54, tr:3018.26, tl:1724.72},{bl:1617.18, br:2938.47, tr:2986.56, tl:1676.35},{bl:1667.33, br:2963.68, tr:2957.49, tl:1627.61},{bl:1718.78, br:2993.26, tr:2929.78, tl:1577.87},{bl:1770.11, br:3023.30, tr:2903.47, tl:1528.94},{bl:1925.68, br:2973.75, tr:2751.40, tl:1532.07},{bl:2020.81, br:2816.09, tr:2592.93, tl:1672.26},{bl:2133.58, br:2659.63, tr:2432.32, tl:1822.22},{bl:2259.08, br:2500.17, tr:2269.64, tl:1983.84},{bl:2405.17, br:2337.10, tr:2099.24, tl:2160.48},{bl:2562.17, br:2180.52, tr:1932.27, tl:2340.38},{bl:2724.93, br:2035.06, tr:1774.26, tl:2519.19},{bl:2889.98, br:1903.03, tr:1627.06, tl:2698.70},{bl:2936.44, br:1866.45, tr:1588.78, tl:2758.43},{bl:2982.79, br:1830.27, tr:1550.47, tl:2811.88},{bl:3007.29, br:1788.02, tr:1567.36, tl:2856.89},{bl:3007.27, br:1738.75, tr:1587.23, tl:2895.66},{bl:3006.04, br:1689.83, tr:1608.75, tl:2935.39},{bl:2995.98, br:1641.39, tr:1632.25, tl:2973.27},{bl:2977.30, br:1593.57, tr:1667.92, tl:3005.67},{bl:2936.60, br:1545.56, tr:1727.33, tl:3027.98},{bl:2285.26, br:2000.96, tr:2236.65, tl:2481.50},{bl:2238.15, br:2196.90, tr:2258.04, tl:2284.91},]
Computing… This may take several minutesInitial guess fitness: 0.4498131
Frame dimensions: 3597.2mm x 2678.0mm (aspect ratio: 1.34:1)

I’m believe I had the Z height correct, not 100% sure about anything right now.

I’m wondering if the 3D printed anchors I’m using have some flex in them, maybe I should try bolting the cable ends into the floor. I’ll download your bolt down anchors, thanks for the suggestion.

[dlang]

darylp62 wrote:

Frame dimensions: 3597.2mm x 2678.0mm (aspect ratio: 1.34:1)

so, putting that into a calculator that I have (that doesn’t generate the right
results, but does identify outliers), it found a bunch of outliers

Dismissed Outlier Points:
Index 36: {bl: 1701.29, br: 2621.31, tr: 2807.87, tl: 1946.23} (BR error: 8.51
mm, BL error: 5.97 mm)
Index 48: {bl: 2743.98, br: 1967.06, tr: 1762.22, tl: 2587.01} (BR error: 8.22
mm, BL error: 5.19 mm)
Index 49: {bl: 2789.37, br: 1929.33, tr: 1721.26, tl: 2639.40} (BR error: 7.48
mm, BL error: 7.60 mm)
Index 50: {bl: 2827.20, br: 1889.64, tr: 1710.65, tl: 2689.24} (BR error: 0.54
mm, BL error: 8.93 mm)
Index 61: {bl: 1711.94, br: 2563.44, tr: 2789.67, tl: 2003.84} (BR error: 8.89
mm, BL error: 4.28 mm)
Index 62: {bl: 1567.37, br: 2740.02, tr: 2954.86, tl: 1881.22} (BR error: 12.36
mm, BL error: 8.03 mm)
Index 63: {bl: 1528.95, br: 2794.00, tr: 3001.43, tl: 1853.32} (BR error: 5.67
mm, BL error: 8.50 mm)
Index 65: {bl: 1529.66, br: 2885.35, tr: 3052.07, tl: 1774.63} (BR error: 6.00
mm, BL error: 15.20 mm)
Index 77: {bl: 2724.93, br: 2035.06, tr: 1774.26, tl: 2519.19} (BR error: 8.19
mm, BL error: 3.04 mm)
Index 78: {bl: 2889.98, br: 1903.03, tr: 1627.06, tl: 2698.70} (BR error: 15.61
mm, BL error: 5.24 mm)
Index 79: {bl: 2936.44, br: 1866.45, tr: 1588.78, tl: 2758.43} (BR error: 9.86
mm, BL error: 8.03 mm)
Index 80: {bl: 2982.79, br: 1830.27, tr: 1550.47, tl: 2811.88} (BR error: 12.29
mm, BL error: 10.79 mm)
Index 81: {bl: 3007.29, br: 1788.02, tr: 1567.36, tl: 2856.89} (BR error: 0.06
mm, BL error: 12.78 mm)
Index 82: {bl: 3007.27, br: 1738.75, tr: 1587.23, tl: 2895.66} (BR error: 0.56
mm, BL error: 14.55 mm)
Index 83: {bl: 3006.04, br: 1689.83, tr: 1608.75, tl: 2935.39} (BR error: 0.09
mm, BL error: 14.35 mm)

the fact that all of these outliers are rreporting bl errors and many report br
errors makes be question if there is a problem with the arms or the belts
catching on something. this iseems to be happening on the right half of the
machine, and mostly on the outer ring or two of the calibration.

I’m believe I had the Z height correct, not 100% sure about anything right now.

from what was described earlier, it sounds like you did

I’m wondering if the 3D printed anchors I’m using have some flex in them,
maybe I should try bolting the cable ends into the floor. I’ll download your
bolt down anchors, thanks for the suggestion.

please note that my bolt down anchors have a parameter for how high to make it
for the lowest arm to the floor they may be too high otherwise

if you can record the calibration process (wide angle so we can see the entire
machine, all the belts and anchors moving) it would be useful for diagnosing
this.

David Lang

[darylp62]

I ran the calibration process again today and it failed. Here are links to the last couple of minutes of the process. Let me know if more videos would be helpful.

https://photos.google.com/photo/AF1QipPBBTBoGVhppby3lkraE8R0n3DH-vTuCt44rDhS

https://photos.google.com/photo/AF1QipOKZCSJrA_yMKdkM_k7Xbz73SyvbYkPQtBOaRow

[dlang]

those links are not working

David Lang

[darylp62]

New video · Wednesday, Apr 29 🎬

New video · Wednesday, Apr 29 🎬

Sorry forgot to make them public.

[dlang]

darylp62 wrote:

https://photos.app.goo.gl/jATFry9UPzs6kLTA7

in this one, at about the 10 second mark, you see the bottom left belt go slack
and remain slack during the rest of the calibration. that would be a big problem

https://photos.app.goo.gl/w2Ab7CxyHiGZrHHAA

In this one, you see belts go slack, but then pull tight again as the
measurement is taken. This is reasonable behavior (I don’t think they should be
going this slack this late in the process, but it’s not unreasonable)

what retraction current limit do you need to have to have the belts retract
fully in a single try? note that a setscrew working lose or grit in things or
even a lack of lubrication can cause the needed force to increase drastically in
an amazingly short time.

you may be in a situation where you need to takt the arm apart to check it, or
you may just need to increase the current limit

David Lang

[darylp62]

One belt going slack and three remaining tight when the sled is on the far right and far left of the spoilboard has been a constant from day one for me. All four belts pull tight when it moves back to the middle. Even at higher retraction limits (1100) this occured.

I did have to increase the retraction limit to 675 today to get all of them to retract. I’m wondering about the set screws, I should have used locktite.

[dlang]

darylp62 wrote:

One belt going slack and three remaining tight when the sled is on the far
right and far left of the spoilboard has been a constant from day one for me.
All four belts pull tight when it moves back to the middle. Even at higher
retraction limits (1100) this occured.

@bar any thoughts?
whatever is causing it to not pull the belts tight during calibration on the
edges is the root cause of this. but since you can normally pull tight with a
retraction limit <700 and it still doesn’t pull tight with a 1100 limit away
from the edges, I don’t know what’s going on here.

you could enable debug mode (fluidnc tab, right maslow.yaml button, then look
for enable debug logging. this doesn’t accrually change the logs, but it makes
the maslow output motor current debug data and when you reload the page there
will be a debug tab that you can use to see dials for the motor current for each
motor. that may indicate what is odd here.

Is it always the same belt that goes slack away from the edges?

David Lang

[ian_ab]

Check that the Z heights in the maslow.yaml file match the arms height. I have seen similar effect when there is a mismatch, in particular make sure each arm’s height matches the corresponding arm. Order of the arms from top to bottom is less important than ensuring they correspond with the Z height.

[bar]

Hmmm yeah that is weird.

I agree that the issue is that belt not pulling tight (they all four need to be tight with each measurement to be accurate).

The weird thing is that at that point that belt should be one of the two which is moving the sled.

My instinct is that something is weird in the maslow.yaml settings file and the process is locating some incorrect anchor points. I’d start by deleting that file and starting fresh.