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Level sensor inconsistency triggers on Kobra Standard #47

Open mminella opened 3 days ago

mminella commented 3 days ago

I have an original Kobra standard. I have upgraded it to a dual z stepper arrangement about a year ago and that was working fine with the original firmware. I am now trying to setup Klipper (using the Catboat fork) and am running into issues related to the Z axis. I have tuned the X and Y motors so they home fine, but I am running into two issues right now with the Z:

I used this method (https://www.klipper3d.org/TMC_Drivers.html#tuning) to tune the X and Y stepper motors but the Z ones basically ignore that (and just goes) which I think is the correct behavior given the leveling sensor. For the record, below is my printer.cfg. What am I missing?

[include mainsail.cfg]
[virtual_sdcard]
path: /home/michaelminella/printer_data/gcodes
on_error_gcode: CANCEL_PRINT

[mcu]
serial: /dev/serial/by-id/usb-1a86_USB_Serial-if00-port0
restart_method: command

[printer]
kinematics: cartesian
max_velocity: 300
max_accel: 2000
max_z_velocity: 5
max_z_accel: 100

# Steppers

[stepper_x]
step_pin: PA5
dir_pin: PA4
enable_pin: !PC3
rotation_distance: 40
microsteps: 16
endstop_pin: tmctrigorilla_stepper_x:virtual_endstop
position_min: -42
position_endstop: -42
position_max: 224
homing_speed: 50 
homing_retract_dist: 0

[tmctrigorilla stepper_x]
uart_pin: PA15
run_current: 0.8
stealthchop_threshold: 999999
uart_address: 0
driver_SGTHRS: 115
diag_pin: ^PA6

[stepper_y]
step_pin: PC4
dir_pin: PA7
enable_pin: !PC3
rotation_distance: 40
microsteps: 16
endstop_pin: tmc2209_stepper_y:virtual_endstop
position_min: -3
position_endstop: -3
position_max: 222
homing_speed: 50
homing_retract_dist: 0

[tmc2209 stepper_y]
uart_pin: PA15
run_current: 0.8
stealthchop_threshold: 999999
uart_address: 1
driver_SGTHRS: 120
diag_pin: ^PC5

[stepper_z]
step_pin: PC7
dir_pin: !PC6
enable_pin: !PC3
rotation_distance: 4
microsteps: 16
endstop_pin: probe:z_virtual_endstop
position_min: -1
position_max: 250
homing_speed: 10

[tmc2209 stepper_z]
uart_pin: PA15
run_current: 0.8
stealthchop_threshold: 999999
uart_address: 2
driver_SGTHRS: 0
diag_pin: ^PA8

[extruder]
step_pin: PC14
dir_pin: PC15
enable_pin: !PC3
microsteps: 16
rotation_distance: 7.794750
nozzle_diameter: 0.400
filament_diameter: 1.750
max_extrude_only_distance: 105
pressure_advance: 0.045
heater_pin: PA1
sensor_type: ATC Semitec 104GT-2
sensor_pin: PC1
control: pid
# Calibrated with hot end at 200c, bed at 60, parts fan on
pid_Kp: 17.111
pid_Ki: 0.659
pid_Kd: 111.06
min_temp: 5
max_temp: 260

[heater_bed]
heater_pin: PA0
sensor_type: EPCOS 100K B57560G104F
sensor_pin: PC0
control: pid
# Calibrated with hot end at 200c, bed at 60, parts fan on
pid_Kp: 61.847
pid_Ki: 0.902
pid_Kd: 1059.902
min_temp: 5
max_temp: 110

[bed_mesh]
speed: 50
mesh_min: 10, 10
mesh_max: 210, 210
probe_count: 5, 5
horizontal_move_z: 7

[probe]
pin: PB8
x_offset: 42
y_offset: 3
z_offset = 0.230
samples: 3
samples_tolerance_retries: 2
speed: 3

# Cooling

[fan]
pin: PB9

[heater_fan extruder_fan]
pin: PA13

[controller_fan controller_fan]
pin: PA14
fan_speed: 0.4

# Extra

[filament_switch_sensor my_sensor]
switch_pin: ^!PC13

[safe_z_home]
home_xy_position: 110, 110

[output_pin beeper]
pin: PB5
pwm: True
value: 0
shutdown_value: 0
cycle_time: 0.01
scale: 1

[gcode_macro M300]
gcode:
    # Use a default 1kHz tone if S is omitted.
    {% set S = params.S|default(1000)|int %}
    # Use a 10ms duration is P is omitted.
    {% set P = params.P|default(100)|int %}
    SET_PIN PIN=beeper VALUE=0.5 CYCLE_TIME={ 1.0/S if S > 0 else 1 }
    G4 P{P}
    SET_PIN PIN=beeper VALUE=0

#*# <---------------------- SAVE_CONFIG ---------------------->
#*# DO NOT EDIT THIS BLOCK OR BELOW. The contents are auto-generated.
#*#
#*# [bed_mesh default]
#*# version = 1
#*# points =
#*#     -0.320417, -0.295833, -0.330417, -0.353750, -0.348750
#*#     -0.194167, -0.140000, -0.166667, -0.168333, -0.178750
#*#     -0.104167, -0.021250, -0.026667, -0.023750, -0.023333
#*#     -0.101667, -0.017083, -0.007917, 0.008750, 0.015000
#*#     -0.175000, -0.049167, -0.002083, 0.051250, 0.101667
#*# x_count = 5
#*# y_count = 5
#*# mesh_x_pps = 2
#*# mesh_y_pps = 2
#*# algo = lagrange
#*# tension = 0.2
#*# min_x = 10.0
#*# max_x = 210.0
#*# min_y = 10.0
#*# max_y = 210.0
#*#
#*# [probe]
#*# z_offset = 0.230
Jookia commented 3 days ago

Hi there, thanks for opening this issue! :)

Could you add 'sample_retract_dist: 5.0' in to your [probe] section? My hunch is that your printer isn't lifting up high enough before probing. I had this problem on my Kobra so I had to add that.

If that resolves the issue please let me know.

mminella commented 3 days ago

Thanks for the quick response! When I try that, I got the following when trying to do a height map: Probe triggered prior to movement.

When I try homing after that error, I get the following: Endstop z still triggered after retract. Interesting note is that the extruder goes down, comes up then throws that error. For the record, in that position the light is not active on the level sensor and Mainsail reports that Endstop Z and Probe are both open.

Just to be 100% sure this isn't the issue, I also changed sample_retract_dist to 20 just to be completely sure that isn't the issue...no difference in results.

Jookia commented 3 days ago

On the Kobra both the Z endstop and probe are the same thing, so ultimately what's happening here is that the probe is triggering when it shouldn't. The sample_retract_dist should make the toolhead move up enough that the probe light turns off, can you tell me if that's happening?

A bit of an easier way to test this is to run the PROBE_ACCURACY g-code command after homing, if it works then please move the toolhead to somewhere else on the bed where it fails and run it again.

mminella commented 2 days ago

The probe light does turn off when it is high enough. The light is also not on when the errors trigger.

After homing, I did the PROBE_ACCURACY command and immediately received the following error: Probe triggered prior to movement. It was homed and the light was on when I ran the command so that condition makes sense...I'm not sure why that would have thrown an error though.

Jookia commented 1 day ago

Ideally the probe should move upwards before probing to counteract this issue, which is what sample_retract_dist should do... Oops! That's not what it does.

You want to put this in your [safe_z_home] section: z_hop: 10 (I just picked 10, try a value bigger if it doesn't work)

mminella commented 1 day ago

No luck. When I put that in, it homed fine but then during the height map, I still get a Probe triggered prior to movement error. I increased the value to 20 and I got a Endstop z still triggered after retract during homing. I'm not sure how big you want that value to be...

Jookia commented 1 day ago

Could you describe a bit more what the printer is doing? If you could provide a video that would be even better! It's hard to know exactly what's going on by just the errors as they don't show the entire picture.

Nov 16, 2024 01:03:31 Michael Minella @.***>:

No luck. When I put that in, it homed fine but then during the height map, I still get a Probe triggered prior to movement error. I increased the value to 20 and I got a Endstop z still triggered after retract during homing. I'm not sure how big you want that value to be...

— Reply to this email directly, view it on GitHub[https://github.com/printers-for-people/catboat/issues/47#issuecomment-2478919110], or unsubscribe[https://github.com/notifications/unsubscribe-auth/AABNHOYA2MNYGRHAHAUJMPD2AX5LBAVCNFSM6AAAAABRWR6GXCVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDINZYHEYTSMJRGA]. You are receiving this because you commented. [Tracking image][https://github.com/notifications/beacon/AABNHO4WHZ7IR7MUMPUCYCL2AX5LBA5CNFSM6AAAAABRWR6GXCWGG33NNVSW45C7OR4XAZNMJFZXG5LFINXW23LFNZ2KUY3PNVWWK3TUL5UWJTUTYFG4M.gif]

Jookia commented 1 day ago

Could you try both z hop and safe min retract distances?

Nov 16, 2024 01:19:50 Jookia @.***>:

Could you describe a bit more what the printer is doing? If you could provide a video that would be even better! It's hard to know exactly what's going on by just the errors as they don't show the entire picture.

Nov 16, 2024 01:03:31 Michael Minella @.***>:

No luck. When I put that in, it homed fine but then during the height map, I still get a Probe triggered prior to movement error. I increased the value to 20 and I got a Endstop z still triggered after retract during homing. I'm not sure how big you want that value to be...

— Reply to this email directly, view it on GitHub[https://github.com/printers-for-people/catboat/issues/47#issuecomment-2478919110], or unsubscribe[https://github.com/notifications/unsubscribe-auth/AABNHOYA2MNYGRHAHAUJMPD2AX5LBAVCNFSM6AAAAABRWR6GXCVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDINZYHEYTSMJRGA]. You are receiving this because you commented. [Tracking image][https://github.com/notifications/beacon/AABNHO4WHZ7IR7MUMPUCYCL2AX5LBA5CNFSM6AAAAABRWR6GXCWGG33NNVSW45C7OR4XAZNMJFZXG5LFINXW23LFNZ2KUY3PNVWWK3TUL5UWJTUTYFG4M.gif]

mminella commented 1 day ago

I have uploaded a video demonstrating the current state of what I'm trying here: https://youtu.be/i-T0G3fVJfU

Sorry, I recorded that video before seeing your last note. Do you know what the field name for safe min retract distance is? I can't find it in the docs. I'll give it a try once you let me know. Thanks again for your help!

Jookia commented 1 day ago

I'm on my phone currently so I don't have the exact name but it was the previous setting we tried. You may need both of the settings to have the tool head move out of the way when homing and when probing.

I will check out the video later today, I'm currently in bed on my phone instead of sleeping. But at least that means I can reply to emails. :)

Nov 16, 2024 06:02:21 Michael Minella @.***>:

I have uploaded a video demonstrating the current state of what I'm trying here: https://youtu.be/i-T0G3fVJfU

Sorry, I recorded that video before seeing your last note. Do you know what the field name for safe min retract distance is? I can't find it in the docs. I'll give it a try once you let me know. Thanks again for your help!

— Reply to this email directly, view it on GitHub[https://github.com/printers-for-people/catboat/issues/47#issuecomment-2479731256], or unsubscribe[https://github.com/notifications/unsubscribe-auth/AABNHO5AHETBDIEJG3O5Y2L2AZALPAVCNFSM6AAAAABRWR6GXCVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDINZZG4ZTCMRVGY]. You are receiving this because you commented. [Tracking image][https://github.com/notifications/beacon/AABNHO64ZO5KM7R6M23PYL32AZALPA5CNFSM6AAAAABRWR6GXCWGG33NNVSW45C7OR4XAZNMJFZXG5LFINXW23LFNZ2KUY3PNVWWK3TUL5UWJTUTZWZDQ.gif]

Jookia commented 1 day ago

Okay, I had a look at your video, thank you very much for going so in depth.

This is very interesting behaviour. My mental picture of what was happening is that the after homing and probing the printer would go all the way down to the bed then not lift up high enough. Has this happened before? If so, I think the z_hop is the solution for that specific problem.

However in the video it seems like the printer doesn't move down very far at all. Maybe the reason why it is stopping is because the z controller thinks it's hit something, Could you try setting 'driver_SGTHRS: 100' in stepper_z? You might also want to set the run_current to 1 to see if that helps, I'm assuming you have both steppers running off the same controller so it might need a bit extra power.