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Klipper3d / klipper

Klipper is a 3d-printer firmware
GNU General Public License v3.0
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CoreY/X ? #2713

Closed catchra closed 4 years ago

catchra commented 4 years ago

@KevinOConnor Hi I am just getting started with Klipper and so far it is great but the only problem is the lack of the CoreYX kinematics. I did look at ./klipper/klippy/kinematics/corexy.py but i have no idea on how to modify it for coreyx.

is it possible to add coreyx to klipper? I did try to switch the [stepper_x] and [stepper_y] in my printer.cfg file but it still moves the wrong axis just in the opposite direction.

klipper-gitissuebot commented 4 years ago

Hi @catchra,

It did not look like there was a Klipper log file attached to this ticket. The log file has been engineered to answer common questions the Klipper developers have about the software and its environment (software version, hardware type, configuration, event timing, and hundreds of other questions).

Unfortunately, too many people have opened tickets without providing the log. That consumes developer time; time that would be better spent enhancing the software. If this ticket references an event that has occurred while running the software then the Klipper log must be attached to this ticket. Otherwise, this ticket will be automatically closed in a few days.

For information on obtaining the Klipper log file see: https://github.com/KevinOConnor/klipper/blob/master/docs/Contact.md

The log can still be attached to this ticket - just add a comment and attach the log to that comment.

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Henke1983 commented 4 years ago

Have you looked in here: https://github.com/KevinOConnor/klipper/blob/master/config/example-corexy.cfg

Under [printer] you have to change the kinematics to corexy else it will not work, have you tried that?

I don´t think you should change the corexy.py - because thats based on calculations how the movement for corexy are done.

mkuf commented 4 years ago

I did try to switch the [stepper_x] and [stepper_y] in my printer.cfg file but it still moves the wrong axis just in the opposite direction.

That sounds like one of your steppers is moving in the wrong direction. Try inverting the step direction of one of them to make the right axis move.

chris666uk1 commented 4 years ago

here is my config with d-bot and duet if that helps

[stepper_x] step_pin: PD6 dir_pin: !PD11 enable_pin: !PC6 step_distance: .0100 endstop_pin: ^!PC14 position_endstop: 0 position_max: 290

[tmc2660 stepper_x] cs_pin: PD14 spi_bus: usart1 microsteps: 16 run_current: 0.900 sense_resistor: 0.051

[stepper_y] step_pin: PD7 dir_pin: !PD12 enable_pin: !PC6 step_distance: .0100 endstop_pin: ^!PA2 position_endstop: 290 position_max: 290

[tmc2660 stepper_y] cs_pin: PC9 spi_bus: usart1 microsteps: 16 run_current: 0.900 sense_resistor: 0.051

[stepper_z] step_pin: PD8 dir_pin: !PD13 enable_pin: !PC6 step_distance: .000861 endstop_pin: probe:z_virtual_endstop

endstop_pin: PD10 # E0 endstop

endstop_pin: PC16 # E1 endstop

position_endstop: 0 position_max: 200

[tmc2660 stepper_z] cs_pin: PC10 spi_bus: usart1 microsteps: 16 run_current: 0.900 sense_resistor: 0.051

[probe] pin: !PC1 x_offset: 25

z_offset: 4

[extruder] step_pin: PD5 dir_pin: !PA1 enable_pin: !PC6 step_distance: .002413 nozzle_diameter: 0.300 filament_diameter: 1.750 heater_pin: !PA20 sensor_type: EPCOS 100K B57560G104F sensor_pin: PC15 control: pid pid_Kp: 36.156 pid_Ki: 2.363 pid_Kd: 138.298 min_temp: 0 max_temp: 250

[tmc2660 extruder] cs_pin: PC17 spi_bus: usart1 microsteps: 16 run_current: 1.000 sense_resistor: 0.051

[heater_bed] heater_pin: !PA19 sensor_type: EPCOS 100K B57560G104F sensor_pin: PC13 control: watermark min_temp: 0 max_temp: 130

[fan] pin: PC23 # FAN0

[heater_fan nozzle_cooling_fan]

pin: PC26 # FAN1

[heater_fan board_cooling_fan]

pin: PA0 # FAN2

[mcu] serial: /dev/serial/by-id/usb-Klipper_sam4e8e_00313753364B37373035303537303230-if00

[printer] kinematics: corexy max_velocity: 300 max_accel: 3000 max_z_velocity: 30 max_z_accel: 30

[bed_mesh] mesh_min: 25,0 mesh_max: 290,290 probe_count: 4,4

[gcode_macro G29] gcode: G28 BED_MESH_CALIBRATE

Henke1983 commented 4 years ago

Have you tried to remove the ! in front of the dir_pin?

[stepper_x] step_pin: PD6 dir_pin: !PD11 <-- changing direction

catchra commented 4 years ago

@Henke1983 @mkuf my print head is moving in the correct direction the problem is if i move the x axis the y axis will move instead.

I also realize that forgot to say what hardware i am using. arduino mega with ramps 1.4 with 5 pololu a4988 drivers the hotend is a e3d titan aero the printer is a hypercube evolution with a dual z.

this is my printer.cfg

[stepper_x]
step_pin: ar54
dir_pin: ar55
enable_pin: !ar38
step_distance: .0125
endstop_pin: ^ar2
endstop_pin: ^ar3
position_endstop: 0
position_max: 300
homing_speed: 50

[stepper_y]
step_pin: ar60
dir_pin: !ar61
enable_pin: !ar56
step_distance: .0125
endstop_pin: ^ar15
endstop_pin: ^ar14
position_endstop: 0
position_max: 300
homing_speed: 50

[stepper_z]
step_pin: ar46
dir_pin: ar48
enable_pin: !ar62
step_distance: .0025
endstop_pin: ^!ar18
endstop_pin: ^!ar19
position_endstop: -0.0
#endstop_pin: probe:z_virtual_endstop
position_max: 300
position_min: -1

[stepper_z1]
step_pin: ar36
dir_pin: ar34
enable_pin: !ar30
step_distance: .0025
position_max: 200

[extruder]
step_pin: ar26
dir_pin: ar28
enable_pin: !ar24
step_distance: .002
nozzle_diameter: 0.400
filament_diameter: 1.750
heater_pin: ar10
sensor_type: PT100 INA826
sensor_pin: analog13
control: pid
pid_Kp: 22.2
pid_Ki: 1.08
pid_Kd: 114
min_temp: 10
max_temp: 250

[heater_bed]
heater_pin: ar8
sensor_type: EPCOS 100K B57560G104F
sensor_pin: analog14
control: watermark
min_temp: 10
max_temp: 130

[fan]
pin: ar9

[mcu]
serial: /dev/serial/by-id/usb-Arduino__www.arduino.cc__Arduino_Mega_2560_64938323231351B08231-if00
pin_map: arduino

[printer]
kinematics: corexy
#   This option must be "corexy" for corexy printers.
max_velocity: 300
max_accel: 3000
max_z_velocity: 25
max_z_accel: 30

# Common EXP1 / EXP2 (display) pins
[board_pins]
aliases:
    # Common EXP1 header found on many "all-in-one" ramps clones
    EXP1_1=ar37, EXP1_3=ar17, EXP1_5=ar23, EXP1_7=ar27, EXP1_9=<GND>,
    EXP1_2=ar35, EXP1_4=ar16, EXP1_6=ar25, EXP1_8=ar29, EXP1_10=<5V>,
    # EXP2 header
    EXP2_1=ar50, EXP2_3=ar31, EXP2_5=ar33, EXP2_7=ar49, EXP2_9=<GND>,
    EXP2_2=ar52, EXP2_4=ar53, EXP2_6=ar51, EXP2_8=ar41, EXP2_10=<RST>
    # Pins EXP2_1, EXP2_6, EXP2_2 are also MISO, MOSI, SCK of bus "spi"
    # Note, some boards wire: EXP2_8=<RST>, EXP2_10=ar41

# See the sample-lcd.cfg file for definitions of common LCD displays.

[display]
lcd_type: st7920
cs_pin: EXP1_4
sclk_pin: EXP1_5
sid_pin: EXP1_3
encoder_pins: ^EXP2_3, ^EXP2_5
click_pin: ^!EXP1_2
kill_pin: ^!EXP2_8

[output_pin beeper]
pin: EXP1_1
mkuf commented 4 years ago

@Henke1983 @mkuf my print head is moving in the correct direction the problem is if i move the x axis the y axis will move instead.

That is because only one of your CoreXY Motors is turning in the wrong direction. Invert the dir_pin of either stepper_x or stepper_y

catchra commented 4 years ago

@mkuf thx for your response but that didn't work, I tried all combinations and it either moved in the wrong direction or crashed into the side of the printer.

mkuf commented 4 years ago

It moved in the wrong direction, but the correct axis?

catchra commented 4 years ago

no It moved in the wrong direction and wrong axis it did work fine in marlin when set to coreyx

mkuf commented 4 years ago

This is strange. Have a look at https://corexy.com/theory.html

This boils down to: Both Motors physically turn the same direction -> X Move Motors physically turn in different directions -> Y-Move

If one Motor does not move in the direction it is supposed to, the axis will be swapped.

You mentioned that you're using a hypercube evolution. This one? https://www.thingiverse.com/thing:2254103 If yes, than it is a bog standard CoreXY impelementation and should not require any special Code to work with Klipper

I'm not familliar with Marlin, the only Info i could find about CoreYX in Marlin was 'CoreXY, but inverted', which I interpret as Motors in the front vs. Motors in the Back.

theopensourcerer commented 4 years ago

If yes, than it is a bog standard CoreXY implementation and should not require any special Code to work with Klipper

FWIW I've been using klipper on my HEVO for ages with no problems at all.

locaJulia commented 4 years ago

That is because not only does the DIR matter, but also the connection itself. Try also flipping the stepper connectors

aotd1 commented 4 years ago

no It moved in the wrong direction and wrong axis

coreYX in Marlin is only coreXY with inverted direction pins or/and swapped stepper connections.

klipper-gitissuebot commented 4 years ago

It appears the Klipper log file was not provided. I'm closing this now, sorry. Feel free to attach the log to this ticket sometime in the future, or create a new issue once you can provide the log file.