Dev2: G30 always homes first

karl_ranseier

Hi,

I do homing for all three axis. Then I move to a position where I want to check my z-probe.
I enter G30 or G30 X35 Y100 (they give the same result)

I expect:

- Servo turns

- probe moves down to the bed and measures the trigger position.

- servo turns back

Why I expect it:
https://www.reprap.org/wiki/G-code#G30:_Single_Z-Probe (I know, it is the description of REPRAP-firmware; I think it should be the same)

What I get:

- Machine homes

- Servo turns

- machine moves the value given at "z-probe xaxis offset" (it does not move to the X35 Y100 position)

- it moves down (because this position is not allowed I reset my machine)

My config:

#define Z_PROBE_TYPE Z_PROBE_TYPE_DEFAULT //#define Z_PROBE_TYPE Z_PROBE_TYPE_NONE #define Z_PROBE_HEIGHT 3 // Distance bed-nozzle when trigger switches servo #define Z_PROBE_BED_DISTANCE 5 // Optimal starting distance #define Z_PROBE_SPEED 5 // Speed fo z testing #define Z_PROBE_X_OFFSET 0 // x offset relative to extruder 0,0 offset #define Z_PROBE_Y_OFFSET 26 // y offset relative to extruder 0,0 offset #define Z_PROBE_COATING 0 // Coating thickness if not detected by probe #define Z_PROBE_DELAY 0 // Extra delay before starting again. Only needed on electronic probes keeping state for a while #define Z_PROBE_REPETITIONS 2 // How often should we probe, 1 is minimum #define Z_PROBE_USE_MEDIAN 1 // 0 = use average, 1 = use middle value after ordering z #define Z_PROBE_SWITCHING_DISTANCE 2 // Minimum distance required to safely untrigger probe - used for faster repeated measurement #define Z_PROBE_BORDER 0 // Safety border to ensure position is allowed #define Z_PROBE_PAUSE_HEATERS 0 // Pause all heaters when probing to reduce EMI artifacts #define Z_PROBE_START_SCRIPT "M340 P0 S1200 R500" #define Z_PROBE_FINISHED_SCRIPT "M340 P0 S1900 R500" #define Z_PROBE_RUN_AFTER_EVERY_PROBE ""

and two lines which I don't understand

#define ZPROBE_HEIGHT_ROUTINE #define ZPROBE_REF_HEIGHT 5.97

Repetier

No, our implementation differs from RepRapFirmware implementation. See main.cpp

- G30 P<0..3> - Single z-probe at current position P = 1 first measurement, P = 2 Last measurement P = 0 or 3 first and last measurement

- G30 H<height> R<offset> Make probe define new Z and z offset (R) at trigger point assuming z-probe measured an object of H height.

So you need to run a G1 X Y Z pos first and then run G30.

#define ZPROBE_HEIGHT_ROUTINE #define ZPROBE_REF_HEIGHT 5.97

are not used at all. Just delete them. I think they are leftovers from V1 configuration.

karl_ranseier

Ok, I tried G30 P1. The description is the same as above. It homes, than moves the distance given in "z-probe xaxis offset" and moves down. But it is not performing a probe at the position where it is/was, so not at the current position.

I do not fully understand what a P0..3 are doing.

Is this correct?

- With single probe a single position in x/y is meant.

- This single probe can contain severeal measurements defined by Z_PROBE_REPETITIONS

- P1 is the first of the repetitions and P2 the last, where the difference where the probe starts (P1 at the standard level) and P2 a measurement after travelling back the "Z_PROBE_SWITCHING_DISTANCE" distance?

I did not know that I can find the command in the main.cpp, thanks for that hint!

Repetier

P values are about activating/deactivating probe. Add 1 for activate and 2 for deactivate. 0 is don't change activation state. Omitting is 3 = activate, measure and deactivate.
It is always measured and current position if allowed. I just uploaded a fix for allowed position computation. Close to borders math was wrong.

It does Z_PROBE_REPETITIONS measurements at that position and in between it goes Z_PROBE_SWITCHING_DISTANCE up before retesting. Then it returns the median or average result depending on configuration.

karl_ranseier

I downloaded the complete files from github. Than I put back my config files, compile and run as above.

It is still homing first.

During compilation I do get plenty of warnings. Here are the first ones:

In file included from src\Repetier.h:220, from src\Configuration.cpp:29: src\Configuration.h:441: warning: "Z_PROBE_BORDER" redefined 441 | #define Z_PROBE_BORDER 0 // Safety border to ensure position is allowed | In file included from src\Repetier.h:220, from src\Configuration.cpp:29: src\Configuration.h:73: note: this is the location of the previous definition 73 | #define Z_PROBE_BORDER 2 // Safety border to ensure position is allowed | In file included from src/Repetier.h:220, from src\PrinterTypes\PrinterTypeCartesian.cpp:19: src/Configuration.h:441: warning: "Z_PROBE_BORDER" redefined 441 | #define Z_PROBE_BORDER 0 // Safety border to ensure position is allowed

I removed a doubled definition in the configuration.h. The doubled definition can be found in the git file, too.The behaviour is still the same.

Repetier

Maybe we need to start earlier. G30 does not home at all

What I get:

- Machine homes

- Servo turns

- machine moves the value given at "z-probe xaxis offset" (it does not move to the X35 Y100 position)

- it moves down (because this position is not allowed I reset my machine)

I assumed you homed first and then you send G30. G30 does not move to any position - it probes where you are only the offset for z probe is added. You should make sure it is only called above the bed. Firmware just checks if it is inside allowed coordinates.

If this is the probing for z min during regular home you need to provide a xy position where to do z home operation.

#define FIXED_Z_HOME_POSITION 1

#define ZHOME_X_POS 50

#define ZHOME_Y_POS 50

Then it will home over bed and not at wrong position.

karl_ranseier

Repetier wrote
I assumed you homed first and then you send G30. G30 does not move to any position - it probes where you are only the offset for z probe is added. You should make sure it is only called above the bed. Firmware just checks if it is inside allowed coordinates.

If this is the probing for z min during regular home you need to provide a xy position where to do z home operation.
#define FIXED_Z_HOME_POSITION 1
#define ZHOME_X_POS 50
#define ZHOME_Y_POS 50

Then it will home over bed and not at wrong position.

Yes, I home first and move to the position. It is exactly the problem, that it homes and then moves by the offset.
Yes, I do expect it NOT to move in x/y. But instead it is performing a home x,y and then performing a z-probe.
The position was over the bed. Anyway I do not expect it to perform a home x,y when it is not over the bed.
In general:
1. Homing works fine now.
2. I want to get the bed levelling working.
a) The first test it to check if the probe works by hitting it by hand. It works.
b) Second step is to perform a G30 at a known position. This is what is not working. It homes first and moves to a wrong position, namely homeposition - offset
c) Next step would be to define the distance bed / nozzle using G30 and manual tests.
d) Last step would be to make G32 working.

Vielleicht mal besser kurz auf deutsch, vielleicht ist meine Englisch einfach zu schlecht:

Es ist exakt das Problem, dass ich eigentlich erwarte, dass mit G30 einfach ein einzelner Punkt mit der z-Sonde ausgemessen wird. Stattdessen wird ein Home durchgeführt und von dort aus um den offset verschoben gemessen.

#define FIXED_Z_HOME_POSITION 0
#define ZHOME_X_POS 140
#define ZHOME_Y_POS 45

RAyWB

wenn x oder y nicht gehomed sind führt er ein homing von x und y durch.

siehe hier:

void ZProbeHandler::activate() {

if (activated) {

return;

}

// Ensure x and y positions are valid

if (!Motion1::isAxisHomed(X_AXIS) || !Motion1::isAxisHomed(Y_AXIS)) {

Motion1::homeAxes((Motion1::isAxisHomed(X_AXIS) ? 0 : 1) + (Motion1::isAxisHomed(Y_AXIS) ? 0 : 2));

}

float cPos[NUM_AXES];

Motion1::copyCurrentOfficial(cPos);

PrinterType::closestAllowedPositionWithNewXYOffset(cPos, offsetX, offsetY, Z_PROBE_BORDER);

Motion1::moveByOfficial(cPos, Motion1::moveFeedrate[X_AXIS], false);

GCode::executeFString(Com::tZProbeStartScript);

Motion1::moveByOfficial(cPos, Motion1::moveFeedrate[X_AXIS], false);

Motion1::setToolOffset(-offsetX, -offsetY, 0);

activated = true;

}

dann verhält es sich so wie du beschrieben hast.

Die Frage ist nur warum er bei Dir trotz homing x und/oder y als nicht gehomed sieht.

falls Du ein Display drann hast müsste das ja an den koordinaten ersichtlich sein

Repetier

Ok I see homing in G30 is a bad idea. It should just block the operation with an error message when xy is not homed. It makes no sense to home first which looses the position and then measure a point where we are not interested.

karl_ranseier

I would even not block the operation. Or at least give a parameter like "G30 S1" to allow an override of the blocking.

karl_ranseier

RAyWB wrote
Die Frage ist nur warum er bei Dir trotz homing x und/oder y als nicht gehomed sieht.
falls Du ein Display drann hast müsste das ja an den koordinaten ersichtlich sein

The display shows the right values, but switches every second to ????.?? for all three axis, which seems to be the hint, that the position might be not calibrated.

Deleting the following lines makes it work as expected.
// Ensure x and y positions are valid if (!Motion1::isAxisHomed(X_AXIS) || !Motion1::isAxisHomed(Y_AXIS)) { Motion1::homeAxes((Motion1::isAxisHomed(X_AXIS) ? 0 : 1) + (Motion1::isAxisHomed(Y_AXIS) ? 0 : 2)); }

The following warnings might be the problem of the homing. Maybe the cold extrusion protection triggers a "position not calibrated"?
Here is the log file of the communication:
Send:11:55:06.791: N28 G28 Recv:11:55:06.791: Info:Autoleveling disabled Recv:11:55:06.791: X:235.00 Y:100.00 Z:149.000 E:0.0000 Recv:11:55:23.231: Info:Autoleveling disabled Recv:11:55:23.232: X:-65.00 Y:400.00 Z:159.000 E:0.0000 Recv:11:55:23.232: Warning:Cold extrusion prevented (2) Recv:11:55:23.232: SelectTool:0 Recv:11:55:23.232: Warning:Move to illegal position prevented! Position should not be trusted any more! Recv:11:55:23.233: Warning:Cold extrusion prevented Recv:11:55:23.233: X:-65.00 Y:400.00 Z:160.000 E:0.0000 Send:11:55:40.917: N29 G1 X35.00 F2400 Recv:11:55:40.917: Warning:Cold extrusion prevented Send:11:55:41.703: N30 G1 X135.00 F2400 Recv:11:55:41.703: Warning:Cold extrusion prevented Send:11:55:43.160: N31 G1 X235.00 F2400 Recv:11:55:43.160: Warning:Cold extrusion prevented Send:11:55:44.182: N32 G1 Y300.00 F2400 Recv:11:55:44.182: Warning:Cold extrusion prevented Send:11:55:44.669: N33 G1 Y200.00 F2400 Recv:11:55:44.669: Warning:Cold extrusion prevented Send:11:56:00.981: N34 G30 P1 Recv:11:56:00.981: Warning:Cold extrusion prevented (2) Recv:11:56:00.982: X:235.00 Y:200.00 Z:160.000 E:0.0000 Recv:11:56:30.340: Warning:Cold extrusion prevented (3) Recv:11:56:47.202: X:235.00 Y:200.00 Z:160.000 E:0.0000 Recv:11:56:47.202: Z-probe:149.073 X:235.00 Y:200.00

Repetier

Yes,

Recv:11:55:23.232: SelectTool:0 Recv:11:55:23.232: Warning:Move to illegal position prevented! Position should not be trusted any more!

is a problem. Selecting tool 0 causes a illegal position which invalides homing.
Is this with a version from today since I fixed some position handling stuff yesterday. If it is I need to do some tests. After homing all tools must be selectable or homing would have failed.
What are your tool offsets and homing directions?

karl_ranseier

The last changes were Fix closestPosition, fix servo off for STM32 boards. After that I downloaded from github.

My Offsets are x:-108, y:-8

Homing direction:

x to negative

y to positive

z to positive

RAyWB

x offset -108mm ?

which offset are you talking about?

may be a sketch would be useful

karl_ranseier

Quick and dirty sketch:
https://drive.google.com/file/d/18lus9RrsjyiOURupdu7FEb0IzOQ6kqa3/view?usp=sharing

karl_ranseier

Repetier wrote
Yes,

Recv:11:55:23.232: SelectTool:0 Recv:11:55:23.232: Warning:Move to illegal position prevented! Position should not be trusted any more!
is a problem. Selecting tool 0 causes a illegal position which invalides homing.
Is this with a version from today since I fixed some position handling stuff yesterday. If it is I need to do some tests. After homing all tools must be selectable or homing would have failed.
What are your tool offsets and homing directions?

Strange beahaviour:
I downloaded a few moments ago the latest version from github.
First try:
- There is no warning after homing, in the display the position does not change every second to ????.??
- G30 P1 works now as expected: It moves by the offset and makes a probe at the position of the nozzle. At the end it moves up, but does not undo the offset-movement.
- G30 P3 does the probing and then brings the nozzle to the original position.
--> Combination of G30 p1 and G30 P3 makes sense.
- G32 S2 was succesfull, with correct positions and so on. Anyway it started its procedure with a homing, even though my printer was homed.
Second try:
- Warning after homing
- Printer goes to wrong positions when trying to G32 S2. Need to stop machine due to risk of damage.
--> It looks like it moves the nozzle to the first position, than
Third try: disconnect all electronics, wat some seconds, try again:
- result like in second try.
Fourth try:
- re-upload firmware (but not changing EEPROM)
- result like second try
Logfile:
Send:21:48:50.953: N15 M117 192.168.137.1:3344
Send:21:48:50.953: N16 M155 S1
Send:21:48:50.953: N17 M415
Recv:21:48:50.953: RESCUE_STATE: OFF
Send:21:49:05.902: @getip
Send:21:49:05.916: N18 M117 192.168.137.1:3344
Send:21:49:21.382: N19 G28
Recv:21:49:21.382: Info:Autoleveling disabled
Recv:21:49:21.382: X:0.00 Y:0.00 Z:0.000 E:0.0000
Recv:21:49:29.269: Info:Autoleveling enabled
Recv:21:49:29.269: X:-64.91 Y:400.18 Z:158.832 E:0.0000
Recv:21:49:29.347: SelectTool:0
Recv:21:49:29.347: Warning:Move to illegal position prevented! Position should not be trusted any more!
Recv:21:49:29.347: X:-65.00 Y:400.10 Z:160.458 E:0.0000
Send:21:49:38.853: N20 G32 S2
Recv:21:49:38.853: X:-65.09 Y:400.02 Z:160.625 E:0.0000
Recv:21:49:38.853: Info:Autoleveling disabled
Recv:21:49:38.853: X:-65.09 Y:400.02 Z:160.625 E:0.0000
Recv:21:49:42.534: Info:Autoleveling disabled
Recv:21:49:42.534: X:-65.00 Y:400.10 Z:159.000 E:0.0000
Recv:21:49:42.624: SelectTool:0
Recv:21:49:42.625: Warning:Move to illegal position prevented! Position should not be trusted any more!
Recv:21:49:42.625: X:-65.00 Y:400.10 Z:160.458 E:0.0000
Recv:21:49:49.498: Info:Autoleveling disabled
Recv:21:49:49.498: X:15.00 Y:280.00 Z:20.000 E:0.0000
Recv:21:49:56.087: Info:Autoleveling disabled
Recv:21:49:56.087: X:-65.00 Y:400.10 Z:20.000 E:0.0000 (2)
Mesg:21:49:58.992: Connection closed by os.
I am totally confused, sorry.
edit: I am using my old configuration.h , not the cleaned up version from github

Repetier

First G30 P3 is what you want. That activates offset before probing and deactivates it afterwards.

Please send
M111 S7
first and then try homing and post log. That will make the firmware output the position that it did not like. I think it is easier to follow when we see which "illegal move" gets prevented. Reported position is in transformed coordinates so offsets and rotation corrections are subtracted already. With some bad luck it is just a rounding error.

karl_ranseier

Sure, here it is with "endstop distance after moving" for all axis with positive value 10mm:

Send:15:23:41.118: N48 G28 Recv:15:23:41.118: Info:Autoleveling disabled Recv:15:23:41.118: X:-65.09 Y:399.92 Z:159.167 E:0.0000 Recv:15:23:45.488: Info:Autoleveling enabled Recv:15:23:45.489: X:-64.91 Y:400.08 Z:158.833 E:0.0000 Recv:15:23:45.566: SelectTool:0 Recv:15:23:45.567: Warning:Move to illegal position prevented! Position should not be trusted any more! Recv:15:23:45.567: XT:-65.00 YT:400.00 ZT:161.00 Recv:15:23:45.567: X:-65.00 Y:400.00 Z:159.000 E:0.0000 Recv:15:23:45.567: Echo:N48 G28

here it is with "endstop distance after moving" for all axis with values 0mm

Send:15:25:17.029: N52 G28 Recv:15:25:17.029: Info:Autoleveling disabled Recv:15:25:17.029: X:-65.09 Y:399.92 Z:159.167 E:0.0000 Recv:15:25:20.489: Info:Autoleveling enabled Recv:15:25:20.489: X:-64.91 Y:400.08 Z:158.833 E:0.0000 Recv:15:25:20.656: SelectTool:0 Recv:15:25:20.656: Warning:Move to illegal position prevented! Position should not be trusted any more! Recv:15:25:20.656: XT:-65.00 YT:400.00 ZT:161.00 Recv:15:25:20.657: X:-65.00 Y:400.00 Z:159.000 E:0.0000 Recv:15:25:20.657: Echo:N52 G28

here it is with "endstop distance after moving" for all axis with positive value 110mm (to be be larger than the offset of my probe)

Send:15:26:30.889: N56 G28 Recv:15:26:30.889: Info:Autoleveling disabled Recv:15:26:30.889: X:-65.09 Y:399.92 Z:159.167 E:0.0000 Recv:15:26:41.534: Info:Autoleveling enabled Recv:15:26:41.534: X:-64.91 Y:400.08 Z:158.833 E:0.0000 Recv:15:26:41.611: SelectTool:0 Recv:15:26:41.611: Warning:Move to illegal position prevented! Position should not be trusted any more! Recv:15:26:41.611: XT:-65.00 YT:400.00 ZT:161.00 Recv:15:26:41.612: X:-65.00 Y:400.00 Z:159.000 E:0.0000 Recv:15:26:41.612: Echo:N56 G28

edit:
my configuration_io.h : https://drive.google.com/file/d/1ojh8FUHkGysqlGV3lRRV2RvNh_cOHltA/view?usp=sharing my configuration.h: https://drive.google.com/file/d/1XqM3yM__EYSHn7kTJCIbPa9DbH9lV_4A/view?usp=sharing

edit2:

more reasonable is the eeprom: https://drive.google.com/file/d/138t0hQ5Ac1lK72zKQvhZ3VegjzXJ-zo2/view?usp=sharing </div>

Repetier

Ok now it is clear why. You home z max and z max is 159. But you also have
#define RAISE_Z_ON_TOOLCHANGE 2
so when selecting tool it raises 2 mm to 161 which is higher then z max and is illegal.

I have updated github and now limit z on toolchange to z max. Hope that solves it.

karl_ranseier

I downloaded the new version and replaced configuration.h and configuration_io.h by my old versions.

--> problem is still existing

Send:18:22:00.930: N24 G28 Recv:18:22:00.930: Info:Autoleveling disabled Recv:18:22:00.930: X:-65.09 Y:399.92 Z:159.167 E:0.0000 Recv:18:22:03.745: Info:Autoleveling enabled Recv:18:22:03.745: X:-64.91 Y:400.08 Z:158.833 E:0.0000 Recv:18:22:03.855: SelectTool:0 Recv:18:22:03.910: Warning:Move to illegal position prevented! Position should not be trusted any more! Recv:18:22:03.910: XT:-65.00 YT:400.00 ZT:159.17 Recv:18:22:03.910: X:-65.00 Y:400.00 Z:159.000 E:0.0000 Recv:18:22:03.910: Echo:N24 G28

changing #define RAISE_Z_ON_TOOLCHANGE 0

results in

Send:18:24:20.054: N20 G28 Recv:18:24:20.054: Info:Autoleveling disabled Recv:18:24:20.054: X:0.00 Y:0.00 Z:0.000 E:0.0000 Recv:18:24:22.922: Info:Autoleveling enabled Recv:18:24:22.922: X:-64.91 Y:400.08 Z:158.833 E:0.0000 Recv:18:24:23.031: SelectTool:0 Recv:18:24:23.086: Warning:Move to illegal position prevented! Position should not be trusted any more! Recv:18:24:23.087: XT:-65.00 YT:400.00 ZT:159.17 Recv:18:24:23.087: X:-65.00 Y:400.00 Z:159.000 E:0.0000 Recv:18:24:23.087: Echo:N20 G28

edit: where I assume, that the 159.17 has something to do with a value from the auto bed level, maybe the one measured at the end of the G32? Where is it stored?