Motor control in Rep 9.23

MShievitz · July 2015

I have several printers and i want to use rep firmware on the 3 deltas. 2 are under construction (a folgertech Kossel pro, and opem beam mini kossel pro, and a rostock mini pro)

I have had to rebuild the rostock mini pro firmware from scratch, i have all printer vitamin specs, motors gears, belts and dimensions.

i have done my best to get things correct, the printer homes, but after the end stop checking routine which levels the gantry, raises, bumps all stops, backs off then rises again properly., however the motors continue to make a sound and eventually the printer experiences some kind of error and the motor (last time i checked it was the y tower goes dead and the axis can be moved by hand. attempting to re home then pulls effector into one of the towers. i know the motors and end stops are good. i have checked them with g-code M119 and they all are correct.

my stops are normally closed and open at tower limit.

it seems like a stepper control problem but i am not sure. all stepper drivers have been tuned to the correct v-ref voltage for the motors but i will double check them (again) and i have extra motors and stepper drivers i could use if required.

I am using an arduino mega 2560 and RAMPS 1.4 and Pololu DRV8825 Stepper motor drivers

they should be stepping at 1/16 and support stepping as far down as 1/32 and have a continuous current rating higher than my motors.

i want to use 1/16 or 1/32 stepping. and eventually support auto level. at the moment there is no z-probe or hot bed attached to this printer

Axis motors are 1.8° step angle (200 steps/revolution), axis belts are 2mm pitch GT-2 type belts with 36 tooth pulleys

the remote extruder motor with planetary gear box (gear ratio: 5.18) uses a standard 8mm-diameter D type output shaft, and has a 1.8° step angle (200 steps/revolution) 11mm output diameter

also i have a long Bowden tube (1meter long) and could use a recommendation for a load/unload/filament switch settings.

MShievitz · July 2015

MAX PRINTABLE HEIGHT 172MM (170 MEASURED TO GLASS BED IN HOLDERS +2MM)

12:16:01 PM: Attempting to connect to printer

12:16:01 PM: Connection opened

< 12:16:10 PM: ÿstart

> 12:16:10 PM: N1 M110 *2

> 12:16:10 PM: N2 M115 *4

< 12:16:13 PM: Info:External Reset

> 12:16:13 PM: N4 M111 S6 *67

< 12:16:13 PM: Transformation matrix: 1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000

> 12:16:13 PM: N5 M111 S14 *113

< 12:16:13 PM: Free RAM:1015

< 12:16:13 PM: Autoretract:255

< 12:16:13 PM: X:0.00 Y:0.00 Z:0.000 E:0.0000

< 12:16:13 PM: FlowMultiply:100

< 12:16:13 PM: ok

< 12:16:13 PM: ok 2

< 12:16:13 PM: FIRMWARE_NAME:Repetier_0.92.3 FIRMWARE_URL:https://github.com/repetier/Repetier-Firmware/ PROTOCOL_VERSION:1.0 MACHINE_TYPE:Delta EXTRUDER_COUNT:1 REPETIER_PROTOCOL:3

< 12:16:13 PM: Printed filament:0.10m Printing time:0 days 0 hours 3 min

< 12:16:13 PM: ok 3

< 12:16:13 PM: T:21.87 /0 @:0

< 12:16:13 PM: ok 4

< 12:16:13 PM: ok 5

< 12:16:13 PM: TargetExtr0:0

< 12:16:13 PM: ok 6

< 12:16:13 PM: T:21.67 /0 @:0

> 12:16:14 PM: N7 M205 *3

< 12:16:14 PM: ok 7

< 12:16:14 PM: EPR:2 75 250000 Baudrate

< 12:16:14 PM: EPR:3 129 0.104 Filament printed [m]

< 12:16:14 PM: EPR:2 125 203 Printer active [s]

< 12:16:14 PM: EPR:2 79 0 Max. inactive time [ms,0=off]

< 12:16:14 PM: EPR:2 83 360000 Stop stepper after inactivity [ms,0=off]

< 12:16:14 PM: EPR:3 11 88.8889 Steps per mm

< 12:16:14 PM: EPR:3 23 300.000 Max. feedrate [mm/s]

< 12:16:14 PM: EPR:3 35 40.000 Homing feedrate [mm/s]

< 12:16:14 PM: EPR:3 39 20.000 Max. jerk [mm/s]

< 12:16:14 PM: EPR:3 133 0.000 X min pos [mm]

< 12:16:14 PM: EPR:3 137 0.000 Y min pos [mm]

< 12:16:14 PM: EPR:3 141 172.000 Z min pos [mm]

< 12:16:14 PM: EPR:3 145 172.000 X max length [mm]

< 12:16:14 PM: EPR:3 149 172.000 Y max length [mm]

< 12:16:14 PM: EPR:3 153 172.000 Z max length [mm]

< 12:16:14 PM: EPR:3 59 1000.000 Acceleration [mm/s^2]

< 12:16:14 PM: EPR:3 71 3000.000 Travel acceleration [mm/s^2]

< 12:16:14 PM: EPR:3 881 184.000 Diagonal rod length [mm]

< 12:16:14 PM: EPR:3 885 84.500 Horizontal rod radius at 0,0 [mm]

< 12:16:14 PM: EPR:3 925 75.000 Max printable radius [mm]

< 12:16:14 PM: EPR:1 891 70 Segments/s for travel

< 12:16:14 PM: EPR:1 889 180 Segments/s for printing

< 12:16:14 PM: EPR:1 893 20 Tower X endstop offset [steps]

< 12:16:14 PM: EPR:1 895 20 Tower Y endstop offset [steps]

< 12:16:14 PM: EPR:1 897 20 Tower Z endstop offset [steps]

< 12:16:14 PM: EPR:3 901 210.000 Alpha A(210):

< 12:16:14 PM: EPR:3 905 330.000 Alpha B(330):

< 12:16:14 PM: EPR:3 909 90.000 Alpha C(90):

< 12:16:14 PM: EPR:3 913 0.000 Delta Radius A(0):

< 12:16:14 PM: EPR:3 917 0.000 Delta Radius B(0):

< 12:16:14 PM: EPR:3 921 0.000 Delta Radius C(0):

< 12:16:14 PM: EPR:3 933 0.000 Corr. diagonal A [mm]

< 12:16:14 PM: EPR:3 937 0.000 Corr. diagonal B [mm]

< 12:16:14 PM: EPR:3 941 0.000 Corr. diagonal C [mm]

< 12:16:14 PM: EPR:0 880 0 Autolevel active (1/0)

< 12:16:14 PM: EPR:0 1020 255 Enable retraction conversion [0/1]

< 12:16:14 PM: EPR:3 992 3.000 Retraction length [mm]

< 12:16:14 PM: EPR:3 1000 40.000 Retraction speed [mm/s]

< 12:16:14 PM: EPR:3 1004 0.000 Retraction z-lift [mm]

< 12:16:14 PM: EPR:3 1008 0.000 Extra extrusion on undo retract [mm]

< 12:16:14 PM: EPR:3 1016 8.000 Retraction undo speed

< 12:16:14 PM: EPR:3 200 933.893 Extr.1 steps per mm

< 12:16:14 PM: EPR:3 204 50.000 Extr.1 max. feedrate [mm/s]

< 12:16:14 PM: EPR:3 208 10.000 Extr.1 start feedrate [mm/s]

< 12:16:14 PM: EPR:3 212 1500.000 Extr.1 acceleration [mm/s^2]

< 12:16:14 PM: EPR:0 216 3 Extr.1 heat manager [0-3]

< 12:16:14 PM: EPR:0 217 230 Extr.1 PID drive max

< 12:16:14 PM: EPR:0 245 40 Extr.1 PID drive min

< 12:16:14 PM: EPR:3 218 7.0000 Extr.1 PID P-gain/dead-time

< 12:16:14 PM: EPR:3 222 2.0000 Extr.1 PID I-gain

< 12:16:14 PM: EPR:3 226 40.0000 Extr.1 PID D-gain

< 12:16:14 PM: EPR:0 230 255 Extr.1 PID max value [0-255]

< 12:16:14 PM: EPR:2 231 0 Extr.1 X-offset [steps]

< 12:16:14 PM: EPR:2 235 0 Extr.1 Y-offset [steps]

< 12:16:14 PM: EPR:2 290 0 Extr.1 Z-offset [steps]

< 12:16:14 PM: EPR:1 239 1 Extr.1 temp. stabilize time [s]

< 12:16:14 PM: EPR:1 250 150 Extr.1 temp. for retraction when heating [C]

< 12:16:14 PM: EPR:1 252 0 Extr.1 distance to retract when heating [mm]

< 12:16:14 PM: EPR:0 254 255 Extr.1 extruder cooler speed [0-255]

< 12:16:15 PM: wait

< 12:16:16 PM: wait

< 12:16:16 PM: ok 8

< 12:16:16 PM: T:21.77 /0 @:0

< 12:16:17 PM: wait

< 12:16:18 PM: wait

< 12:16:19 PM: wait

< 12:16:19 PM: ok 9

< 12:16:19 PM: T:21.77 /0 @:0

< 12:16:20 PM: wait

> 12:16:21 PM: N10 G28 X0.00 Y0.00 Z0.00 *103

< 12:16:21 PM: ok 10

< 12:16:23 PM: FlowMultiply:100

< 12:16:23 PM: X:0.00 Y:0.00 Z:172.001 E:0.0000

< 12:16:23 PM: Resend:11

< 12:16:23 PM: ok

< 12:16:23 PM: ok 11

< 12:16:23 PM: T:21.98 /0 @:0

< 12:16:24 PM: wait

< 12:16:25 PM: wait

MShievitz · July 2015

also i found this code in a post and was wondering if this code was accessible somewhere to make things easier when changing micro stepping etc./** Drive settings for the Delta printers

/
#if DRIVE_SYSTEM==3
// **************************************************
// *** These parameter are only for Delta printers ***
// ***************************************************

/** \brief Delta drive type: 0 - belts and pulleys, 1 - filament drive */
#define DELTA_DRIVE_TYPE 0

#if DELTA_DRIVE_TYPE == 0
  /** \brief Pitch in mm of drive belt. GT2 = 2mm */
  #define BELT_PITCH 2.0
  /** \brief Number of teeth on X, Y and Z tower pulleys */
  #define PULLEY_TEETH 36
  #define PULLEY_CIRCUMFERENCE (BELT_PITCH * PULLEY_TEETH)
#elif DELTA_DRIVE_TYPE == 1
  /** \brief Filament pulley diameter in milimeters */
  #define PULLEY_DIAMETER 11
  #define PULLEY_CIRCUMFERENCE (PULLEY_DIAMETER * 3.1415927)
#endif

/** \brief Steps per rotation of stepper motor */
#define STEPS_PER_ROTATION 200

/** \brief Micro stepping rate of X, Y and Y tower stepper drivers */
#define MICRO_STEPS 32

// Calculations
#define AXIS_STEPS_PER_MM ((float)(MICRO_STEPS * STEPS_PER_ROTATION) / PULLEY_CIRCUMFERENCE)
#define XAXIS_STEPS_PER_MM AXIS_STEPS_PER_MM
#define YAXIS_STEPS_PER_MM AXIS_STEPS_PER_MM
#define ZAXIS_STEPS_PER_MM AXIS_STEPS_PER_MM

#else

MShievitz · July 2015

my end stops are just mech switches, not opticals

MShievitz · July 2015

all 3 jumpers are installed, this should enable 1/32 stepping, but i sent the command to make it 1/16.

happy to use 1/32 if its practical with this hardware.

Step size of stepper driver (A4988)

  jumper       Yes/No     stepsize     
   ms1     ms2      ms3 
   no      no       no     fullstep
   yes     no       no     halfstep
   no      yes      no     1/4step
   yes     yes      no     1/8step
   yes     yes      yes    1/16step

Step size of stepper driver (Drv8825)

  jumper   Yes/No       step size
   ms1     ms2      ms3
   no      no       no    full step
   yes     no       no    half step
   no      yes      no    1/4 step
   yes     yes      no    1/4 step
   no      no      yes    1/16 step
  yes      no      yes    1/32 step
  no      yes      yes    1/32step
  yes     yes      yes    1/32step

command i sent was

M350 S16 (reset all drivers to the default 1/16 micro-stepping)

is it possible the jumpers are interpreting this as 1/32?

MShievitz · July 2015

i also have access to a4988 stepper drivers if thats the only solution, but i preferred the DRV8825 for heat, current etc.

MShievitz · July 2015

i rebuilt the firmware and loaded it using 1/32 stepping and adjusted all the associated numbers, printer moving WAY slow now, but it still suffers from the same problems

MShievitz · July 2015

here is the rebuild

7:42:00 PM: Attempting to connect to printer

7:42:00 PM: Connection opened

< 7:42:09 PM: ÿstart

> 7:42:09 PM: N1 M110 *2

> 7:42:09 PM: N2 M115 *4

< 7:42:12 PM: Info:External Reset

> 7:42:12 PM: N4 M111 S6 *67

< 7:42:12 PM: Transformation matrix: 1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000

> 7:42:12 PM: N5 M111 S14 *113

< 7:42:12 PM: Free RAM:1015

< 7:42:12 PM: Autoretract:0

< 7:42:12 PM: X:0.00 Y:0.00 Z:0.000 E:0.0000

< 7:42:12 PM: FlowMultiply:100

< 7:42:12 PM: ok

< 7:42:12 PM: ok 2

< 7:42:12 PM: FIRMWARE_NAME:Repetier_0.92.3 FIRMWARE_URL:https://github.com/repetier/Repetier-Firmware/ PROTOCOL_VERSION:1.0 MACHINE_TYPE:Delta EXTRUDER_COUNT:1 REPETIER_PROTOCOL:3

< 7:42:12 PM: Printed filament:0.10m Printing time:0 days 0 hours 3 min

< 7:42:12 PM: ok 3

< 7:42:12 PM: T:21.67 /0 @:0

< 7:42:12 PM: ok 4

< 7:42:12 PM: Error:Format error

< 7:42:12 PM: Resend:5

7:42:12 PM: Resend: N5 M111 S14 *113

< 7:42:12 PM: ok

< 7:42:12 PM: ok 5

< 7:42:12 PM: TargetExtr0:0

< 7:42:12 PM: ok 6

< 7:42:12 PM: T:21.67 /0 @:0

< 7:42:13 PM: wait

> 7:42:14 PM: N7 G28 X0.00 Y0.00 Z0.00 *81

< 7:42:14 PM: ok 7

< 7:43:24 PM: RequestPause:Homing failed!

> 7:43:24 PM: N10 M205 *53

< 7:43:24 PM: FlowMultiply:100

< 7:43:24 PM: X:0.00 Y:0.00 Z:169.999 E:0.0000

< 7:43:24 PM: ok 8

< 7:43:24 PM: T:21.56 /0 @:0

< 7:43:24 PM: Resend:9

7:43:24 PM: Resend: N10 M205 *53

< 7:43:24 PM: ok

< 7:43:24 PM: ok 9

< 7:43:24 PM: T:21.56 /0 @:0

< 7:43:24 PM: ok 10

< 7:43:25 PM: EPR:2 75 250000 Baudrate

< 7:43:25 PM: EPR:3 129 0.104 Filament printed [m]

< 7:43:25 PM: EPR:2 125 203 Printer active [s]

< 7:43:25 PM: EPR:2 79 0 Max. inactive time [ms,0=off]

< 7:43:25 PM: EPR:2 83 360000 Stop stepper after inactivity [ms,0=off]

< 7:43:25 PM: EPR:3 11 88.8889 Steps per mm

< 7:43:25 PM: EPR:3 23 2.000 Max. feedrate [mm/s]

< 7:43:25 PM: EPR:3 35 40.000 Homing feedrate [mm/s]

< 7:43:25 PM: EPR:3 39 20.000 Max. jerk [mm/s]

< 7:43:25 PM: EPR:3 133 0.000 X min pos [mm]

< 7:43:25 PM: EPR:3 137 0.000 Y min pos [mm]

< 7:43:25 PM: EPR:3 141 0.000 Z min pos [mm]

< 7:43:25 PM: EPR:3 145 200.000 X max length [mm]

< 7:43:25 PM: EPR:3 149 200.000 Y max length [mm]

< 7:43:25 PM: EPR:3 153 170.000 Z max length [mm]

< 7:43:25 PM: EPR:3 59 3000.000 Acceleration [mm/s^2]

< 7:43:25 PM: EPR:3 71 1000.000 Travel acceleration [mm/s^2]

< 7:43:25 PM: EPR:3 881 184.000 Diagonal rod length [mm]

< 7:43:25 PM: EPR:3 885 75.000 Horizontal rod radius at 0,0 [mm]

< 7:43:25 PM: EPR:3 925 84.500 Max printable radius [mm]

< 7:43:25 PM: EPR:1 891 70 Segments/s for travel

< 7:43:25 PM: EPR:1 889 180 Segments/s for printing

< 7:43:25 PM: EPR:1 893 0 Tower X endstop offset [steps]

< 7:43:25 PM: EPR:1 895 0 Tower Y endstop offset [steps]

< 7:43:25 PM: EPR:1 897 0 Tower Z endstop offset [steps]

< 7:43:25 PM: EPR:3 901 210.000 Alpha A(210):

< 7:43:25 PM: EPR:3 905 330.000 Alpha B(330):

< 7:43:25 PM: EPR:3 909 90.000 Alpha C(90):

< 7:43:25 PM: EPR:3 913 0.000 Delta Radius A(0):

< 7:43:25 PM: EPR:3 917 0.000 Delta Radius B(0):

< 7:43:25 PM: EPR:3 921 0.000 Delta Radius C(0):

< 7:43:25 PM: EPR:3 933 0.000 Corr. diagonal A [mm]

< 7:43:25 PM: EPR:3 937 0.000 Corr. diagonal B [mm]

< 7:43:25 PM: EPR:3 941 0.000 Corr. diagonal C [mm]

< 7:43:25 PM: EPR:0 880 0 Autolevel active (1/0)

< 7:43:25 PM: EPR:0 1020 0 Enable retraction conversion [0/1]

< 7:43:25 PM: EPR:3 992 3.000 Retraction length [mm]

< 7:43:25 PM: EPR:3 1000 40.000 Retraction speed [mm/s]

< 7:43:25 PM: EPR:3 1004 0.000 Retraction z-lift [mm]

< 7:43:25 PM: EPR:3 1008 0.000 Extra extrusion on undo retract [mm]

< 7:43:25 PM: EPR:3 1016 20.000 Retraction undo speed

< 7:43:25 PM: EPR:3 200 959.322 Extr.1 steps per mm

< 7:43:25 PM: EPR:3 204 50.000 Extr.1 max. feedrate [mm/s]

< 7:43:25 PM: EPR:3 208 10.000 Extr.1 start feedrate [mm/s]

< 7:43:25 PM: EPR:3 212 1500.000 Extr.1 acceleration [mm/s^2]

< 7:43:25 PM: EPR:0 216 1 Extr.1 heat manager [0-3]

< 7:43:25 PM: EPR:0 217 230 Extr.1 PID drive max

< 7:43:25 PM: EPR:0 245 40 Extr.1 PID drive min

< 7:43:25 PM: EPR:3 218 7.0000 Extr.1 PID P-gain/dead-time

< 7:43:25 PM: EPR:3 222 2.0000 Extr.1 PID I-gain

< 7:43:25 PM: EPR:3 226 40.0000 Extr.1 PID D-gain

< 7:43:25 PM: EPR:0 230 255 Extr.1 PID max value [0-255]

< 7:43:25 PM: EPR:2 231 0 Extr.1 X-offset [steps]

< 7:43:25 PM: EPR:2 235 0 Extr.1 Y-offset [steps]

< 7:43:25 PM: EPR:2 290 0 Extr.1 Z-offset [steps]

< 7:43:25 PM: EPR:1 239 1 Extr.1 temp. stabilize time [s]

< 7:43:25 PM: EPR:1 250 150 Extr.1 temp. for retraction when heating [C]

< 7:43:25 PM: EPR:1 252 0 Extr.1 distance to retract when heating [mm]

< 7:43:25 PM: EPR:0 254 255 Extr.1 extruder cooler speed [0-255]

< 7:43:25 PM: wait

< 7:43:26 PM: ok 11

< 7:43:26 PM: T:21.56 /0 @:0

< 7:43:27 PM: wait

< 7:43:28 PM: wait

< 7:43:29 PM: wait

< 7:43:29 PM: ok 12

< 7:43:29 PM: T:21.56 /0 @:0

< 7:43:30 PM: wait

< 7:43:32 PM: wait

< 7:43:33 PM: wait

< 7:43:33 PM: ok 13

< 7:43:33 PM: T:21.46 /0 @:0

< 7:43:33 PM: wait

< 7:43:34 PM: wait

< 7:43:35 PM: wait

< 7:43:35 PM: ok 14

< 7:43:35 PM: T:20.73 /0 @:0

< 7:43:36 PM: wait

< 7:43:37 PM: wait

< 7:43:38 PM: ok 15

< 7:43:38 PM: T:21.35 /0 @:0

< 7:43:39 PM: wait

< 7:43:40 PM: wait

< 7:43:41 PM: wait

< 7:43:42 PM: ok 16

< 7:43:42 PM: T:21.56 /0 @:0

< 7:43:43 PM: wait

< 7:43:44 PM: wait

< 7:43:45 PM: wait

< 7:43:45 PM: ok 17

< 7:43:45 PM: T:21.04 /0 @:0

< 7:43:46 PM: wait

< 7:43:47 PM: wait

< 7:43:48 PM: ok 18

< 7:43:48 PM: T:21.77 /0 @:0

< 7:43:49 PM: wait

< 7:43:50 PM: wait

< 7:43:51 PM: wait

< 7:43:51 PM: ok 19

< 7:43:51 PM: T:21.56 /0 @:0

< 7:43:52 PM: wait

< 7:43:53 PM: wait

< 7:43:54 PM: wait

< 7:43:54 PM: ok 20

< 7:43:54 PM: T:21.46 /0 @:0

< 7:44:28 PM: wait

> 7:44:29 PM: N32 M84 *14

< 7:44:29 PM: ok 32

< 7:44:30 PM: wait

< 7:44:30 PM: ok 33

< 7:44:30 PM: T:21.67 /0 @:0

< 7:44:31 PM: wait

7:44:32 PM: Connection closed

(motors were still humming, feared damage and shut them down

Motor control in Rep 9.23

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