Delta: servo motors keep moving up and down in circles

drsdre

I'm building a Delta Robot style printer using a Rumba board with the XYZ axis connected to the towers. Using the Repetier latest (and dev) firmware, I'm not able to get control of the printer. At start of the firmware all the arms are being pulled and down slowly one by one. Then after 1-2 seconds this process start again but faster and never stops.

I'm suspecting something with the end stops although the look to be setup correctly. they are micron switches in the top in normal state connected by the + lead to the signal, switched on it's the - lead that connects to the signal.

My end stop config is:

// ################ Endstop configuration #####################

#define ENDSTOP_PULLUP_X_MIN true

#define ENDSTOP_X_MIN_INVERTING false

#define MIN_HARDWARE_ENDSTOP_X false

#define ENDSTOP_PULLUP_Y_MIN true

#define ENDSTOP_Y_MIN_INVERTING false

#define MIN_HARDWARE_ENDSTOP_Y false

#define ENDSTOP_PULLUP_Z_MIN true

#define ENDSTOP_Z_MIN_INVERTING false

#define MIN_HARDWARE_ENDSTOP_Z false

#define ENDSTOP_PULLUP_X_MAX true

#define ENDSTOP_X_MAX_INVERTING false

#define MAX_HARDWARE_ENDSTOP_X true

#define ENDSTOP_PULLUP_Y_MAX true

#define ENDSTOP_Y_MAX_INVERTING false

#define MAX_HARDWARE_ENDSTOP_Y true

#define ENDSTOP_PULLUP_Z_MAX true

#define ENDSTOP_Z_MAX_INVERTING false

#define MAX_HARDWARE_ENDSTOP_Z true

#define max_software_endstop_r true

#define min_software_endstop_x true

#define min_software_endstop_y true

#define min_software_endstop_z true

#define max_software_endstop_x false

#define max_software_endstop_y false

#define max_software_endstop_z false

#define ENDSTOP_X_BACK_MOVE 5

#define ENDSTOP_Y_BACK_MOVE 5

#define ENDSTOP_Z_BACK_MOVE 2

#define ENDSTOP_X_RETEST_REDUCTION_FACTOR 3

#define ENDSTOP_Y_RETEST_REDUCTION_FACTOR 3

#define ENDSTOP_Z_RETEST_REDUCTION_FACTOR 3

#define ENDSTOP_X_BACK_ON_HOME 1

#define ENDSTOP_Y_BACK_ON_HOME 1

#define ENDSTOP_Z_BACK_ON_HOME 1

#define ALWAYS_CHECK_ENDSTOPS 0

Repetier

Use M119 to verify endstop status, then you know if they are set correctly.

Motors should not run at startup, except if oyu have home on power up enabled.

Firmware only works with steppe rmotors so I hope your servo motors are stepper motors:-)