Z movement when moving to feeder

[Trevor White]

Hi. 

I have motion working with my machine pretty well except for when it moves to a feeder. Whenever it does this it seems to merge z, x and y movements to all finish at the same time and it appears it slows the overall motion down. Other movements do z first and then x and y and these are much quicker. 

Is there a way to define not to merge z moves with x and y axis moves? 

I am using a Duet3D 6HC control board. 

Thanks

Trev

[Trevor White]

I found it. There is a move before feed tick box in the feeder setup that solves this issue. When this box is unticked, Z is done first and then it moves. 

[mark maker]

This sounds wrong. That should not be necessary. What type of feeder?

_Mark

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[Trevor White]

Yeah it is still slow. All it did was move the Z first but the movement to the feeder is slower than all other movements still.

I setup a gcodedriver that talks to a PM feeder I got from Bing along with his usb mega board. I do a pre and post command to move the shutter of the feeder. Is it possible the gcodedriver is slowing things down? 

[tianl...@gmail.com]

The hardware and software of this controller are the same as the 0816 feeder, so there will be no new errors

---Original---

From: "Trevor White"<tswelec...@gmail.com>

Date: Thu, Jan 18, 2024 21:37 PM

To: "OpenPnP"<ope...@googlegroups.com>;

Subject: Re: [OpenPnP] Re: Z movement when moving to feeder

To view this discussion on the web visit https://groups.google.com/d/msgid/openpnp/88539570-fa1a-4f58-8d78-13a9a1fae352n%40googlegroups.com.

[mark maker]

Please send the full log at TRACE log level.

https://github.com/openpnp/openpnp/wiki/FAQ#how-do-i-turn-on-debug-logging

https://github.com/openpnp/openpnp/wiki/FAQ#where-are-configuration-and-log-files-located

To view this discussion on the web visit https://groups.google.com/d/msgid/openpnp/88539570-fa1a-4f58-8d78-13a9a1fae352n%40googlegroups.com.

[Trevor White]

With the machined parked I started it with one part selected for placement. The first movement is it moving to the feeder which is slower than the movements after where it goes to the camera, then to the board and places the part. It then finishes at the home position. 

 

2024-01-18 14:59:49.698 ReferenceHead DEBUG: H1.moveToSafeZ(1.0)

2024-01-18 14:59:49.699 AbstractHeadMountable DEBUG: N1.moveToSafeZ(1.0)

2024-01-18 14:59:49.699 AbstractHeadMountable DEBUG: N2.moveToSafeZ(1.0)

2024-01-18 14:59:49.699 AbstractHeadMountable DEBUG: Top.moveToSafeZ(1.0)

2024-01-18 14:59:49.699 Scripting TRACE: Scripting.on Job.Starting

2024-01-18 14:59:49.700 ReferencePnpJobProcessor$Plan DEBUG: Planner complete in 0ms: [N1 (504) -> R1]

2024-01-18 14:59:49.700 ReferencePnpJobProcessor$Plan DEBUG: Planned placements [N1 (504) -> R1]

2024-01-18 14:59:49.700 ReferencePnpJobProcessor$ChangeNozzleTips DEBUG: No nozzle tip change needed for nozzle N1 N1

2024-01-18 14:59:49.700 Scripting TRACE: Scripting.on Job.Placement.Starting

2024-01-18 14:59:49.701 ReferenceHead DEBUG: H1.moveToSafeZ(1.0)

2024-01-18 14:59:49.701 AbstractHeadMountable DEBUG: N1.moveToSafeZ(1.0)

2024-01-18 14:59:49.701 AbstractHeadMountable DEBUG: N2.moveToSafeZ(1.0)

2024-01-18 14:59:49.701 AbstractHeadMountable DEBUG: Top.moveToSafeZ(1.0)

2024-01-18 14:59:49.702 AbstractHeadMountable DEBUG: N1.moveTo((53.275000, 390.417000, 31.000000, 90.000000 mm), 1.0)

2024-01-18 14:59:49.702 ReferenceNozzle TRACE: N1.toHeadLocation((53.380130, 390.435337, 31.000000, 90.000000 mm), ...) runout compensation (-0.105130, -0.018337, 0.000000, 0.000000 mm)

2024-01-18 14:59:49.703 AbstractHeadMountable DEBUG: N1.moveTo((53.275000, 390.417000, NaN, 90.000000 mm), 1.0)

2024-01-18 14:59:49.703 ReferenceNozzle TRACE: N1.toHeadLocation((53.380130, 390.435337, 31.000000, 90.000000 mm), ...) runout compensation (-0.105130, -0.018337, 0.000000, 0.000000 mm)

2024-01-18 14:59:49.705 GcodeAsyncDriver DEBUG: [Duet3D:COM3] commandQueue offer >> M204 S457.1 G1 X73.8036 Y465.5115 Z80.0000 {U:U%.4f} {V:V%.4f} F28223 ; move to target

2024-01-18 14:59:49.706 GcodeAsyncDriver$WriterThread TRACE: [Duet3D:COM3] >> M204S457.1G1X73.8036Y465.5115Z80{U:U%.4f}{V:V%.4f}F28223

2024-01-18 14:59:49.706 GcodeAsyncDriver DEBUG: [Duet3D:COM3] commandQueue offer >> M204 S257.7 G1 X73.8436 Y465.6715  {U:U%.4f} {V:V%.4f} F391 ; move to target

2024-01-18 14:59:49.706 GcodeAsyncDriver DEBUG: [Duet3D:COM3] commandQueue offer >> M400 ; Wait for moves to complete before returning

2024-01-18 14:59:49.706 GcodeAsyncDriver$WriterThread TRACE: [Duet3D:COM3] >> M204S257.7G1X73.8436Y465.6715{U:U%.4f}{V:V%.4f}F391

2024-01-18 14:59:49.706 GcodeAsyncDriver DEBUG: [Duet3D:COM3] commandQueue offer >> M114 ; get position

2024-01-18 14:59:49.706 GcodeAsyncDriver$WriterThread TRACE: [Duet3D:COM3] >> M400

2024-01-18 14:59:49.707 GcodeAsyncDriver$WriterThread TRACE: [Duet3D:COM3] >> M114

2024-01-18 14:59:49.707 GcodeDriver$ReaderThread TRACE: [Duet3D:COM3] << ok

2024-01-18 14:59:49.708 GcodeDriver$ReaderThread TRACE: [Duet3D:COM3] << ok

2024-01-18 14:59:51.824 GcodeDriver$ReaderThread TRACE: [Duet3D:COM3] << ok

2024-01-18 14:59:51.825 GcodeDriver$ReaderThread TRACE: [Duet3D:COM3] << X:73.844 Y:465.672 Z:80.000 U:-15.875 V:0.000 E:0.000 Count 5907 37254 6400 -127 0 Machine 73.844 465.672 80.000 -15.875 0.000 Bed comp 0.000

2024-01-18 14:59:51.825 GcodeDriver TRACE: Position report: X:73.844 Y:465.672 Z:80.000 U:-15.875 V:0.000 E:0.000 Count 5907 37254 6400 -127 0 Machine 73.844 465.672 80.000 -15.875 0.000 Bed comp 0.000

2024-01-18 14:59:51.825 GcodeDriver$ReaderThread TRACE: [Duet3D:COM3] << ok

2024-01-18 14:59:51.825 GcodeDriver TRACE: Duet3D got lastReportedLocation (X:73.844000, Y:465.672000, Z:80.000000, A:-15.875000, B:0.000000)

2024-01-18 14:59:51.825 GcodeAsyncDriver TRACE: Duet3D confirmation complete.

2024-01-18 14:59:51.825 AbstractMotionPlanner DEBUG: Reported location changes current location from (X:73.830015, Y:465.635297, Z:80.000000, A:90.000000, B:0.000000) to (X:73.830408, Y:465.635804, Z:80.000000, A:-15.875000, B:0.000000)

2024-01-18 14:59:51.828 ReferenceActuator DEBUG: PRE_FEED.actuate(1.0)

2024-01-18 14:59:51.829 GcodeDriver DEBUG: [Feeder:COM5] >> M600 N1, 50

2024-01-18 14:59:51.829 GcodeDriver WARNING: Feeder configuration error: COMMAND_CONFIRM_REGEX missing. Not waiting for confirmation.

2024-01-18 14:59:51.830 AbstractNozzle TRACE: Set rotation mode offset: none.

2024-01-18 14:59:51.830 AbstractNozzle TRACE: Set rotation mode offset: none.

2024-01-18 14:59:51.831 ReferenceHead DEBUG: H1.moveToSafeZ(1.0)

2024-01-18 14:59:51.831 AbstractHeadMountable DEBUG: N1.moveToSafeZ(1.0)

2024-01-18 14:59:51.831 AbstractHeadMountable DEBUG: N2.moveToSafeZ(1.0)

2024-01-18 14:59:51.831 AbstractHeadMountable DEBUG: Top.moveToSafeZ(1.0)

2024-01-18 14:59:51.832 AbstractHeadMountable DEBUG: N1.moveTo((53.275000, 390.417000, 1.000000, 90.000000 mm), 1.0)

2024-01-18 14:59:51.832 ReferenceNozzle TRACE: N1.toHeadLocation((53.380130, 390.435337, 1.000000, 90.000000 mm), ...) runout compensation (-0.105130, -0.018337, 0.000000, 0.000000 mm)

2024-01-18 14:59:51.833 AbstractHeadMountable DEBUG: N1.moveTo((53.275000, 390.417000, -38.900000, 90.000000 mm), 1.0)

2024-01-18 14:59:51.833 ReferenceNozzle TRACE: N1.toHeadLocation((53.380130, 390.435337, -38.900000, 90.000000 mm), ...) runout compensation (-0.105130, -0.018337, 0.000000, 0.000000 mm)

2024-01-18 14:59:51.834 ReferenceNozzle DEBUG: N1.pick()

2024-01-18 14:59:51.834 Scripting TRACE: Scripting.on Nozzle.BeforePick

2024-01-18 14:59:51.834 GcodeDriver$ReaderThread TRACE: [Feeder:COM5] << M600 N1

2024-01-18 14:59:51.835 GcodeAsyncDriver DEBUG: [Duet3D:COM3] commandQueue offer >> M204 S103.9 G1 X73.8700 Y465.7953 Z50.0000 {U:U%.4f} {V:V%.4f} F6417 ; move to target

2024-01-18 14:59:51.836 GcodeAsyncDriver$WriterThread TRACE: [Duet3D:COM3] >> M204S103.9G1X73.87Y465.7953Z50{U:U%.4f}{V:V%.4f}F6417

2024-01-18 14:59:51.836 GcodeAsyncDriver DEBUG: [Duet3D:COM3] commandQueue offer >> M204 S257.7 G1 X73.8300 Y465.6353  {U:U%.4f} {V:V%.4f} F391 ; move to target

2024-01-18 14:59:51.836 GcodeAsyncDriver$WriterThread TRACE: [Duet3D:COM3] >> M204S257.7G1X73.83Y465.6353{U:U%.4f}{V:V%.4f}F391

2024-01-18 14:59:51.836 GcodeAsyncDriver DEBUG: [Duet3D:COM3] commandQueue offer >> M204 S1500.0 G1   Z10.1000 {U:U%.4f} {V:V%.4f} F14679 ; move to target

2024-01-18 14:59:51.836 GcodeAsyncDriver DEBUG: [Duet3D:COM3] commandQueue offer >> M400 ; Wait for moves to complete before returning

2024-01-18 14:59:51.836 GcodeAsyncDriver$WriterThread TRACE: [Duet3D:COM3] >> M204S1500G1Z10.1{U:U%.4f}{V:V%.4f}F14679

2024-01-18 14:59:51.836 GcodeAsyncDriver DEBUG: [Duet3D:COM3] commandQueue offer >> M114 ; get position

2024-01-18 14:59:51.836 GcodeAsyncDriver$WriterThread TRACE: [Duet3D:COM3] >> M400

2024-01-18 14:59:51.837 GcodeAsyncDriver$WriterThread TRACE: [Duet3D:COM3] >> M114

2024-01-18 14:59:51.837 GcodeDriver$ReaderThread TRACE: [Duet3D:COM3] << ok

2024-01-18 14:59:51.837 GcodeDriver$ReaderThread TRACE: [Duet3D:COM3] << ok

2024-01-18 14:59:51.838 GcodeDriver$ReaderThread TRACE: [Duet3D:COM3] << ok

2024-01-18 14:59:52.076 GcodeDriver$ReaderThread TRACE: [Feeder:COM5] << ok, advancing cycle completed

2024-01-18 14:59:53.516 GcodeDriver$ReaderThread TRACE: [Duet3D:COM3] << ok

2024-01-18 14:59:53.518 GcodeDriver$ReaderThread TRACE: [Duet3D:COM3] << X:73.830 Y:465.635 Z:10.100 U:-15.875 V:0.000 E:0.000 Count 5906 37251 808 -127 0 Machine 73.830 465.635 10.100 -15.875 0.000 Bed comp 0.000

2024-01-18 14:59:53.518 GcodeDriver TRACE: Position report: X:73.830 Y:465.635 Z:10.100 U:-15.875 V:0.000 E:0.000 Count 5906 37251 808 -127 0 Machine 73.830 465.635 10.100 -15.875 0.000 Bed comp 0.000

2024-01-18 14:59:53.518 GcodeDriver$ReaderThread TRACE: [Duet3D:COM3] << ok

2024-01-18 14:59:53.518 GcodeDriver TRACE: Duet3D got lastReportedLocation (X:73.830000, Y:465.635000, Z:10.100000, A:-15.875000, B:0.000000)

2024-01-18 14:59:53.518 GcodeAsyncDriver TRACE: Duet3D confirmation complete.

2024-01-18 14:59:53.518 AbstractMotionPlanner DEBUG: Reported location changes current location from (X:73.830015, Y:465.635297, Z:10.100000, A:90.000000, B:0.000000) to (X:73.830000, Y:465.635000, Z:10.100000, A:-15.875000, B:0.000000)

2024-01-18 14:59:53.518 ReferenceActuator DEBUG: PUMP.actuate(true)

2024-01-18 14:59:53.519 GcodeAsyncDriver DEBUG: [Duet3D:COM3] commandQueue offer >> M42 P9 S1

2024-01-18 14:59:53.519 AbstractHead TRACE: H1 dwell for pump on 0ms

2024-01-18 14:59:53.519 GcodeAsyncDriver$WriterThread TRACE: [Duet3D:COM3] >> M42P9S1

2024-01-18 14:59:53.519 ReferenceActuator DEBUG: PUMP.actuate(true)

2024-01-18 14:59:53.519 GcodeAsyncDriver DEBUG: [Duet3D:COM3] commandQueue offer >> M42 P9 S1

2024-01-18 14:59:53.520 ReferenceNozzle TRACE: N1 dwell for pick vacuum 50ms

2024-01-18 14:59:53.520 GcodeAsyncDriver$WriterThread TRACE: [Duet3D:COM3] >> M42P9S1

2024-01-18 14:59:53.520 GcodeDriver$ReaderThread TRACE: [Duet3D:COM3] << ok

2024-01-18 14:59:53.521 GcodeDriver$ReaderThread TRACE: [Duet3D:COM3] << ok

2024-01-18 14:59:53.571 Scripting TRACE: Scripting.on Nozzle.AfterPick

2024-01-18 14:59:53.571 AbstractHeadMountable DEBUG: N1.moveToSafeZ(1.0)

2024-01-18 14:59:53.571 AbstractHeadMountable DEBUG: N1.moveTo((53.391235, 390.541176, 1.500000, -15.875000 mm), 1.0)

2024-01-18 14:59:53.572 ReferenceNozzle TRACE: N1.toHeadLocation((53.380115, 390.435040, 1.500000, -15.875000 mm), ...) runout compensation (0.011120, 0.106136, 0.000000, 0.000000 mm)

2024-01-18 14:59:53.573 GcodeAsyncDriver DEBUG: [Duet3D:COM3] commandQueue offer >> M204 S1500.0 G1   Z50.5000 {U:U%.4f} {V:V%.4f} F14770 ; move to target

2024-01-18 14:59:53.573 GcodeAsyncDriver DEBUG: [Duet3D:COM3] commandQueue offer >> M400 ; Wait for moves to complete before returning

2024-01-18 14:59:53.573 GcodeAsyncDriver$WriterThread TRACE: [Duet3D:COM3] >> M204S1500G1Z50.5{U:U%.4f}{V:V%.4f}F14770

2024-01-18 14:59:53.574 GcodeAsyncDriver DEBUG: [Duet3D:COM3] commandQueue offer >> M114 ; get position

2024-01-18 14:59:53.574 GcodeAsyncDriver$WriterThread TRACE: [Duet3D:COM3] >> M400

2024-01-18 14:59:53.574 GcodeAsyncDriver$WriterThread TRACE: [Duet3D:COM3] >> M114

2024-01-18 14:59:53.575 GcodeDriver$ReaderThread TRACE: [Duet3D:COM3] << ok

2024-01-18 14:59:54.203 GcodeDriver$ReaderThread TRACE: [Duet3D:COM3] << ok

2024-01-18 14:59:54.205 GcodeDriver$ReaderThread TRACE: [Duet3D:COM3] << X:73.830 Y:465.635 Z:50.500 U:-15.875 V:0.000 E:0.000 Count 5906 37251 4040 -127 0 Machine 73.830 465.635 50.500 -15.875 0.000 Bed comp 0.000

2024-01-18 14:59:54.205 GcodeDriver TRACE: Position report: X:73.830 Y:465.635 Z:50.500 U:-15.875 V:0.000 E:0.000 Count 5906 37251 4040 -127 0 Machine 73.830 465.635 50.500 -15.875 0.000 Bed comp 0.000

2024-01-18 14:59:54.205 GcodeDriver$ReaderThread TRACE: [Duet3D:COM3] << ok

2024-01-18 14:59:54.205 GcodeDriver TRACE: Duet3D got lastReportedLocation (X:73.830000, Y:465.635000, Z:50.500000, A:-15.875000, B:0.000000)

2024-01-18 14:59:54.207 GcodeAsyncDriver TRACE: Duet3D confirmation complete.

2024-01-18 14:59:54.208 ReferenceActuator DEBUG: POST_FEED.actuate(1.0)

2024-01-18 14:59:54.208 GcodeDriver DEBUG: [Feeder:COM5] >> M601 N1, 50

2024-01-18 14:59:54.209 GcodeDriver WARNING: Feeder configuration error: COMMAND_CONFIRM_REGEX missing. Not waiting for confirmation.

2024-01-18 14:59:54.209 Scripting TRACE: Scripting.on Vision.PartAlignment.Before

2024-01-18 14:59:54.213 ReferenceHead DEBUG: H1.moveToSafeZ(1.0)

2024-01-18 14:59:54.213 AbstractHeadMountable DEBUG: N1.moveToSafeZ(1.0)

2024-01-18 14:59:54.214 GcodeDriver$ReaderThread TRACE: [Feeder:COM5] << M601 N1

2024-01-18 14:59:54.214 AbstractHeadMountable DEBUG: N2.moveToSafeZ(1.0)

2024-01-18 14:59:54.214 AbstractHeadMountable DEBUG: Top.moveToSafeZ(1.0)

2024-01-18 14:59:54.214 AbstractHeadMountable DEBUG: N1.moveTo((12014.927713, 16075.342354, 59.055118, 0.000000 mil), 1.0)

2024-01-18 14:59:54.215 ReferenceNozzle TRACE: N1.toHeadLocation((12015.649629, 16071.203368, 59.055118, 0.000000 mil), ...) runout compensation (-0.018337, 0.105130, 0.000000, 0.000000 mm)

2024-01-18 14:59:54.216 AbstractHeadMountable DEBUG: N1.moveTo((12014.927713, 16075.342354, -793.438320, 0.000000 mil), 1.0)

2024-01-18 14:59:54.216 ReferenceNozzle TRACE: N1.toHeadLocation((12015.649629, 16071.203368, -793.438320, 0.000000 mil), ...) runout compensation (-0.018337, 0.105130, 0.000000, 0.000000 mm)

2024-01-18 14:59:54.217 GcodeDriver$ReaderThread TRACE: [Feeder:COM5] << ok feeder postPickRetract done if needed

2024-01-18 14:59:54.218 CvPipeline DEBUG: Stage "pDetail" throws java.lang.Exception: Stage "filterContours" not found

2024-01-18 14:59:54.220 GcodeAsyncDriver DEBUG: [Duet3D:COM3] commandQueue offer >> M204 S1593.1 G1 X325.6210 Y483.2847  {U:U%.4f} {V:V%.4f} F38085 ; move to target

2024-01-18 14:59:54.220 GcodeAsyncDriver$WriterThread TRACE: [Duet3D:COM3] >> M204S1593.1G1X325.621Y483.2847{U:U%.4f}{V:V%.4f}F38085

2024-01-18 14:59:54.220 GcodeAsyncDriver DEBUG: [Duet3D:COM3] commandQueue offer >> M204 S257.7 G1 X325.6610 Y483.4447  {U:U%.4f} {V:V%.4f} F391 ; move to target

2024-01-18 14:59:54.221 GcodeAsyncDriver$WriterThread TRACE: [Duet3D:COM3] >> M204S257.7G1X325.661Y483.4447{U:U%.4f}{V:V%.4f}F391

2024-01-18 14:59:54.221 GcodeDriver$ReaderThread TRACE: [Duet3D:COM3] << ok

2024-01-18 14:59:54.221 GcodeAsyncDriver DEBUG: [Duet3D:COM3] commandQueue offer >> M204 S1500.0 G1   Z28.8467 {U:U%.4f} {V:V%.4f} F10813 ; move to target

2024-01-18 14:59:54.221 GcodeAsyncDriver$WriterThread TRACE: [Duet3D:COM3] >> M204S1500G1Z28.8467{U:U%.4f}{V:V%.4f}F10813

2024-01-18 14:59:54.221 GcodeAsyncDriver DEBUG: [Duet3D:COM3] commandQueue offer >> M400 ; Wait for moves to complete before returning

2024-01-18 14:59:54.221 GcodeAsyncDriver DEBUG: [Duet3D:COM3] commandQueue offer >> M114 ; get position

2024-01-18 14:59:54.222 GcodeAsyncDriver$WriterThread TRACE: [Duet3D:COM3] >> M400

2024-01-18 14:59:54.222 GcodeAsyncDriver$WriterThread TRACE: [Duet3D:COM3] >> M114

2024-01-18 14:59:54.222 GcodeDriver$ReaderThread TRACE: [Duet3D:COM3] << ok

2024-01-18 14:59:54.223 GcodeDriver$ReaderThread TRACE: [Duet3D:COM3] << ok

2024-01-18 14:59:55.529 GcodeDriver$ReaderThread TRACE: [Duet3D:COM3] << ok

2024-01-18 14:59:55.531 GcodeDriver$ReaderThread TRACE: [Duet3D:COM3] << X:325.661 Y:483.445 Z:28.847 U:-15.875 V:0.000 E:0.000 Count 26053 38676 2308 -127 0 Machine 325.661 483.445 28.847 -15.875 0.000 Bed comp 0.000

2024-01-18 14:59:55.531 GcodeDriver TRACE: Position report: X:325.661 Y:483.445 Z:28.847 U:-15.875 V:0.000 E:0.000 Count 26053 38676 2308 -127 0 Machine 325.661 483.445 28.847 -15.875 0.000 Bed comp 0.000

2024-01-18 14:59:55.531 GcodeDriver$ReaderThread TRACE: [Duet3D:COM3] << ok

2024-01-18 14:59:55.531 GcodeDriver TRACE: Duet3D got lastReportedLocation (X:325.661000, Y:483.445000, Z:28.847000, A:-15.875000, B:0.000000)

2024-01-18 14:59:55.531 GcodeAsyncDriver TRACE: Duet3D confirmation complete.

2024-01-18 14:59:55.531 AbstractMotionPlanner DEBUG: Reported location changes current location from (X:325.647386, Y:483.408526, Z:28.846667, A:0.000000, B:0.000000) to (X:325.647408, Y:483.408804, Z:28.847000, A:-15.875000, B:0.000000)

2024-01-18 14:59:55.532 ReferenceActuator DEBUG: DnLight.actuate(false)

2024-01-18 14:59:55.532 GcodeAsyncDriver DEBUG: [Duet3D:COM3] commandQueue offer >> M42 P7 S0

2024-01-18 14:59:55.532 GcodeAsyncDriver$WriterThread TRACE: [Duet3D:COM3] >> M42P7S0

2024-01-18 14:59:55.532 ReferenceActuator DEBUG: UpLight.actuate(true)

2024-01-18 14:59:55.532 GcodeAsyncDriver DEBUG: [Duet3D:COM3] commandQueue offer >> M42 P8 S1;

2024-01-18 14:59:55.533 Scripting TRACE: Scripting.on Camera.BeforeSettle

2024-01-18 14:59:55.533 GcodeAsyncDriver$WriterThread TRACE: [Duet3D:COM3] >> M42P8S1

2024-01-18 14:59:55.533 GcodeDriver$ReaderThread TRACE: [Duet3D:COM3] << ok

2024-01-18 14:59:55.533 AbstractSettlingCamera TRACE: UpCamera settling fixed time 100ms

2024-01-18 14:59:55.534 GcodeDriver$ReaderThread TRACE: [Duet3D:COM3] << ok

2024-01-18 14:59:55.635 Scripting TRACE: Scripting.on Camera.BeforeCapture

2024-01-18 14:59:55.648 Scripting TRACE: Scripting.on Camera.AfterCapture

2024-01-18 14:59:55.649 Scripting TRACE: Scripting.on Camera.AfterSettle

2024-01-18 14:59:56.599 ReferenceBottomVision DEBUG: Alignment result: R0402-1K

2024-01-18 14:59:56.599 ReferenceBottomVision DEBUG: Bottom vision part R0402-1K result rect { {608.6729209516869, 372.19605393117376} 14x6 * -27.903141024128455 }

2024-01-18 14:59:56.607 ReferenceBottomVision DEBUG: Alignment result: R0402-1K  |  X:-0.649 Y:-0.399 C:27.903 Δ:0.762

2024-01-18 14:59:56.612 AbstractNozzle TRACE: Set rotation mode offset: 27.903141024128455°.

2024-01-18 14:59:56.612 Scripting TRACE: Scripting.on Vision.PartAlignment.After

2024-01-18 14:59:56.612 ReferencePnpJobProcessor$Align DEBUG: Align id R0402-1K, name null, heightUnits Millimeters, height 0.500000, packageId (R0402) with N1 N1, offsets offset ( location: (-0.649376, -0.399445, 0.000000, 0.000000 mm) pre-rotatedfalse)

2024-01-18 14:59:56.613 Scripting TRACE: Scripting.on Job.Placement.BeforeAssembly

2024-01-18 14:59:56.613 ReferenceHead DEBUG: H1.moveToSafeZ(1.0)

2024-01-18 14:59:56.614 AbstractHeadMountable DEBUG: N1.moveToSafeZ(1.0)

2024-01-18 14:59:56.614 AbstractHeadMountable DEBUG: N1.moveTo((305.208643, 408.314980, 1.500000, 12.028141 mm), 1.0)

2024-01-18 14:59:56.614 ReferenceNozzle TRACE: N1.toHeadLocation((305.208643, 408.314980, 1.500000, -15.875000 mm), ...) rotation mode offset 27.903141024128455

2024-01-18 14:59:56.614 ReferenceNozzle TRACE: N1.toHeadLocation((305.197523, 408.208844, 1.500000, -15.875000 mm), ...) runout compensation (0.011120, 0.106136, 0.000000, 0.000000 mm)

2024-01-18 14:59:56.615 AbstractHeadMountable DEBUG: N2.moveToSafeZ(1.0)

2024-01-18 14:59:56.616 AbstractHeadMountable DEBUG: Top.moveToSafeZ(1.0)

2024-01-18 14:59:56.616 AbstractHeadMountable DEBUG: N1.moveTo((384.160283, 176.791767, 1.500000, 0.719946 mm), 1.0)

2024-01-18 14:59:56.616 ReferenceNozzle TRACE: N1.toHeadLocation((384.160283, 176.791767, 1.500000, -27.183195 mm), ...) rotation mode offset 27.903141024128455

2024-01-18 14:59:56.616 ReferenceNozzle TRACE: N1.toHeadLocation((384.128567, 176.689872, 1.500000, -27.183195 mm), ...) runout compensation (0.031716, 0.101896, 0.000000, 0.000000 mm)

2024-01-18 14:59:56.617 AbstractHeadMountable DEBUG: N1.moveTo((384.160283, 176.791767, -39.500000, 0.719946 mm), 1.0)

2024-01-18 14:59:56.617 ReferenceNozzle TRACE: N1.toHeadLocation((384.160283, 176.791767, -39.500000, -27.183195 mm), ...) rotation mode offset 27.903141024128455

2024-01-18 14:59:56.617 ReferenceNozzle TRACE: N1.toHeadLocation((384.128567, 176.689872, -39.500000, -27.183195 mm), ...) runout compensation (0.031716, 0.101896, 0.000000, 0.000000 mm)

2024-01-18 14:59:56.618 ReferenceNozzle DEBUG: N1.place()

2024-01-18 14:59:56.618 Scripting TRACE: Scripting.on Nozzle.BeforePlace

2024-01-18 14:59:56.620 GcodeAsyncDriver DEBUG: [Duet3D:COM3] commandQueue offer >> M204 S1500.0 G1   Z50.5000 {U:U%.4f} {V:V%.4f} F10813 ; move to target

2024-01-18 14:59:56.620 GcodeAsyncDriver$WriterThread TRACE: [Duet3D:COM3] >> M204S1500G1Z50.5{U:U%.4f}{V:V%.4f}F10813

2024-01-18 14:59:56.621 GcodeAsyncDriver DEBUG: [Duet3D:COM3] commandQueue offer >> M204 S2164.2 G1 X404.5520 Y252.0498  {U:U%.4f} {V:V%.4f} F43667 ; move to target

2024-01-18 14:59:56.621 GcodeAsyncDriver$WriterThread TRACE: [Duet3D:COM3] >> M204S2164.2G1X404.552Y252.0498{U:U%.4f}{V:V%.4f}F43667

2024-01-18 14:59:56.621 GcodeAsyncDriver DEBUG: [Duet3D:COM3] commandQueue offer >> M204 S257.7 G1 X404.5920 Y251.8898  {U:U%.4f} {V:V%.4f} F391 ; move to target

2024-01-18 14:59:56.622 GcodeDriver$ReaderThread TRACE: [Duet3D:COM3] << ok

2024-01-18 14:59:56.622 GcodeAsyncDriver$WriterThread TRACE: [Duet3D:COM3] >> M204S257.7G1X404.592Y251.8898{U:U%.4f}{V:V%.4f}F391

2024-01-18 14:59:56.622 GcodeAsyncDriver DEBUG: [Duet3D:COM3] commandQueue offer >> M204 S1500.0 G1   Z9.5000 {U:U%.4f} {V:V%.4f} F14880 ; move to target

2024-01-18 14:59:56.622 GcodeAsyncDriver DEBUG: [Duet3D:COM3] commandQueue offer >> M400 ; Wait for moves to complete before returning

2024-01-18 14:59:56.622 GcodeAsyncDriver$WriterThread TRACE: [Duet3D:COM3] >> M204S1500G1Z9.5{U:U%.4f}{V:V%.4f}F14880

2024-01-18 14:59:56.622 GcodeAsyncDriver DEBUG: [Duet3D:COM3] commandQueue offer >> M114 ; get position

2024-01-18 14:59:56.622 GcodeAsyncDriver$WriterThread TRACE: [Duet3D:COM3] >> M400

2024-01-18 14:59:56.622 GcodeAsyncDriver$WriterThread TRACE: [Duet3D:COM3] >> M114

2024-01-18 14:59:56.623 GcodeDriver$ReaderThread TRACE: [Duet3D:COM3] << ok

2024-01-18 14:59:56.624 GcodeDriver$ReaderThread TRACE: [Duet3D:COM3] << ok

2024-01-18 14:59:56.625 GcodeDriver$ReaderThread TRACE: [Duet3D:COM3] << ok

2024-01-18 14:59:58.381 GcodeDriver$ReaderThread TRACE: [Duet3D:COM3] << ok

2024-01-18 14:59:58.381 GcodeDriver$ReaderThread TRACE: [Duet3D:COM3] << X:404.592 Y:251.890 Z:9.500 U:-15.875 V:0.000 E:0.000 Count 32367 20151 760 -127 0 Machine 404.592 251.890 9.500 -15.875 0.000 Bed comp 0.000

2024-01-18 14:59:58.381 GcodeDriver TRACE: Position report: X:404.592 Y:251.890 Z:9.500 U:-15.875 V:0.000 E:0.000 Count 32367 20151 760 -127 0 Machine 404.592 251.890 9.500 -15.875 0.000 Bed comp 0.000

2024-01-18 14:59:58.382 GcodeDriver$ReaderThread TRACE: [Duet3D:COM3] << ok

2024-01-18 14:59:58.382 GcodeDriver TRACE: Duet3D got lastReportedLocation (X:404.592000, Y:251.890000, Z:9.500000, A:-15.875000, B:0.000000)

2024-01-18 14:59:58.382 GcodeAsyncDriver TRACE: Duet3D confirmation complete.

2024-01-18 14:59:58.382 AbstractMotionPlanner DEBUG: Reported location changes current location from (X:404.578452, Y:251.889832, Z:9.500000, A:-27.183195, B:0.000000) to (X:404.578408, Y:251.890000, Z:9.500000, A:-15.875000, B:0.000000)

2024-01-18 14:59:58.382 ReferenceActuator DEBUG: PUMP.actuate(false)

2024-01-18 14:59:58.382 GcodeAsyncDriver DEBUG: [Duet3D:COM3] commandQueue offer >> M42 P9 S0

2024-01-18 14:59:58.382 GcodeAsyncDriver$WriterThread TRACE: [Duet3D:COM3] >> M42P9S0

2024-01-18 14:59:58.383 ReferenceActuator DEBUG: PUMP.actuate(false)

2024-01-18 14:59:58.383 GcodeAsyncDriver DEBUG: [Duet3D:COM3] commandQueue offer >> M42 P9 S0

2024-01-18 14:59:58.383 ReferenceNozzle TRACE: N1 dwell for place vacuum dissipation 50ms

2024-01-18 14:59:58.383 GcodeAsyncDriver$WriterThread TRACE: [Duet3D:COM3] >> M42P9S0

2024-01-18 14:59:58.383 GcodeDriver$ReaderThread TRACE: [Duet3D:COM3] << ok

2024-01-18 14:59:58.384 GcodeDriver$ReaderThread TRACE: [Duet3D:COM3] << ok

2024-01-18 14:59:58.433 AbstractNozzle TRACE: Set rotation mode offset: none.

2024-01-18 14:59:58.433 Scripting TRACE: Scripting.on Nozzle.AfterPlace

2024-01-18 14:59:58.434 AbstractHeadMountable DEBUG: N1.moveToSafeZ(1.0)

2024-01-18 14:59:58.434 AbstractHeadMountable DEBUG: N1.moveTo((384.139643, 176.796176, 1.000000, -15.875000 mm), 1.0)

2024-01-18 14:59:58.434 ReferenceNozzle TRACE: N1.toHeadLocation((384.128523, 176.690040, 1.000000, -15.875000 mm), ...) runout compensation (0.011120, 0.106136, 0.000000, 0.000000 mm)

2024-01-18 14:59:58.435 Scripting TRACE: Scripting.on Job.Placement.Complete

2024-01-18 14:59:58.435 ReferenceHead DEBUG: H1.moveToSafeZ(1.0)

2024-01-18 14:59:58.435 AbstractHeadMountable DEBUG: N1.moveToSafeZ(1.0)

2024-01-18 14:59:58.435 AbstractHeadMountable DEBUG: N2.moveToSafeZ(1.0)

2024-01-18 14:59:58.435 AbstractHeadMountable DEBUG: Top.moveToSafeZ(1.0)

2024-01-18 14:59:58.437 ReferenceHead DEBUG: H1.moveToSafeZ(1.0)

2024-01-18 14:59:58.437 AbstractHeadMountable DEBUG: N1.moveToSafeZ(1.0)

2024-01-18 14:59:58.437 AbstractHeadMountable DEBUG: N2.moveToSafeZ(1.0)

2024-01-18 14:59:58.437 AbstractHeadMountable DEBUG: Top.moveToSafeZ(1.0)

2024-01-18 14:59:58.438 ReferenceHead DEBUG: H1.moveToSafeZ(1.0)

2024-01-18 14:59:58.438 AbstractHeadMountable DEBUG: N1.moveToSafeZ(1.0)

2024-01-18 14:59:58.438 AbstractHeadMountable DEBUG: N2.moveToSafeZ(1.0)

2024-01-18 14:59:58.438 AbstractHeadMountable DEBUG: Top.moveToSafeZ(1.0)

2024-01-18 14:59:58.438 AbstractHeadMountable DEBUG: Top.moveTo((0.000000, 0.000000, NaN, NaN mm), 1.0)

2024-01-18 14:59:58.440 ReferencePnpJobProcessor$Finish INFO: Job finished 1 parts in 8.7 sec. This is 411.9 CPH

2024-01-18 14:59:58.440 Scripting TRACE: Scripting.on Job.Finished

2024-01-18 14:59:58.463 GcodeAsyncDriver DEBUG: [Duet3D:COM3] commandQueue offer >> M204 S1500.0 G1   Z50.0000 {U:U%.4f} {V:V%.4f} F14789 ; move to target

2024-01-18 14:59:58.464 GcodeAsyncDriver$WriterThread TRACE: [Duet3D:COM3] >> M204S1500G1Z50{U:U%.4f}{V:V%.4f}F14789

2024-01-18 14:59:58.464 GcodeAsyncDriver DEBUG: [Duet3D:COM3] commandQueue offer >> M204 S3533.4 G1 X0.0400 Y0.1600  {U:U%.4f} {V:V%.4f} F77851 ; move to target

2024-01-18 14:59:58.464 GcodeAsyncDriver$WriterThread TRACE: [Duet3D:COM3] >> M204S3533.4G1X0.04Y0.16{U:U%.4f}{V:V%.4f}F77851

2024-01-18 14:59:58.464 GcodeAsyncDriver DEBUG: [Duet3D:COM3] commandQueue offer >> M204 S257.7 G1 X0.0000 Y0.0000  {U:U%.4f} {V:V%.4f} F391 ; move to target

2024-01-18 14:59:58.464 GcodeAsyncDriver$WriterThread TRACE: [Duet3D:COM3] >> M204S257.7G1X0Y0{U:U%.4f}{V:V%.4f}F391

2024-01-18 14:59:58.464 AbstractMachine TRACE: Machine entering idle state.

2024-01-18 14:59:58.465 GcodeDriver$ReaderThread TRACE: [Duet3D:COM3] << ok

2024-01-18 14:59:58.466 GcodeDriver$ReaderThread TRACE: [Duet3D:COM3] << ok

2024-01-18 14:59:58.466 GcodeDriver$ReaderThread TRACE: [Duet3D:COM3] << ok

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[mark maker]

Like I said, please provide the full log, as an attachment (easier to search). I need to see what happened before, where it was, etc.

Your MOVE_TO_COMMAND is not matching your axes, there are unused axis letter U and V.

2024-01-18 14:59:49.705 GcodeAsyncDriver DEBUG: [Duet3D:COM3] commandQueue offer >> M204 S457.1 G1 X73.8036 Y465.5115 Z80.0000 {U:U%.4f} {V:V%.4f} F28223 ; move to target

Use Issues & Solutions to fix. But that hardly explains the issue. Report back when you fixed it and have a new full log.

_Mark

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[Trevor White]

Apologies, attached is the full log. 

The U and V are axis for A and B. I do not believe there is a fault with that bit.  

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[Trevor White]

Sorry you are right about U and V. I need to sort that out but no idea if it makes a difference at this point. 

Thanks

[mark maker]

I'll look into the log when fixed.

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[Trevor White]

Thanks for your time with this. I appreciate until I sort the U and V error out we don’t completely know it’s unrelated. I shall hopefully be able to look at that tomorrow.

I notice that if I press the P to park the head or I use the below icon to move to the next component the machine moves very quickly. Are these motions handled differently to any other? I don’t know why these would be quick but others not.

[mark maker]

It would be better for you to sort out the axis letters first. Go to your rotation axes and set the axis letter to  U and V respectively. Then I can look at the actual log and give advice based on facts.

Why? I presume the true rotation axes are now hidden because they are set to A B instead of U V as seemingly configured on the Duet. So we don't see the rotation delta motion in those. But the OpenPnP motion planner will still consider these and if they are limiting, set feed-rate and acceleration limits based on the rotation axes. That is usually the explanation.

Users often disregard that rotating a nozzle by 1° is usually much less "physical" than moving an axis by 1mm. Numerically, in terms of G-code, it is the same thing. So to make the rotation axes go reasonably fast, you need to set much higher feed-rate and acceleration limits on the rotation axes, both in the Duet config and in OpenPnP.

https://github.com/openpnp/openpnp/wiki/Machine-Axes#kinematic-settings--rate-limits

_Mark

[Trevor White]

Thanks Mark. I completely agree with you and will follow your suggestions. I cant get to the machine until tomorrow but I will do what you suggest and report back. It was just I had the question about why it moves so quickly when I press P and wondered if something was done differently for that. 

Again, appreciate you taking the time to reply. Will report back tomorrow. 

Trev

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[mark maker]

> It was just I had the question about why it moves so quickly when I press P and wondered if something was done differently for that.

Just in case it was not yet clear: 

1. moving to a feeder means it also rotates the nozzle to be ready to pick a part at its "rotation in tape". (*)
   
2. moving to Park using the central P button leaves the rotation axes as they are (in fact there is a separate P button for rotation).
   

So if the rotation axis rates are quite low, they may limit the X/Y speed in case 1 but not in case 2. 

Why are the X/Y axes limited? It's called "coordinated motion". It means that all but the limiting axis are slowed down to arrive at the destination at the same time. It is what most controllers do. It would not strictly be required for OpenPnP, in normal pick and place moves at safe Z. But it is required by other NC machines like 5+ axis milling machines. And it could even become a problem for OpenPnP when certain moves are diagonal in space, like nozzle tip changer moves, or PushPullFeeder actuation moves, etc. 

Coordinated motion does not make a machine slower, therefore it is usually simply always done.

Industrial PnP machines sometimes move uncoordinated. It manifests in these typical "hockey stick" shaped moves, rather than straight diagonals.

https://youtu.be/2hDsy_EeDSA?feature=shared&t=18

*) Note: once you get the axes sorted, you can look at the nozzle rotation mode for further optimization based on your machine type:

https://github.com/openpnp/openpnp/wiki/Nozzle-Rotation-Mode

_Mark

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[Trevor White]

Yes makes sense. It matches my initial feeling that it was trying to work all axis to complete at the same time and hence why I thought to try to separate the Z motion from the X and Y but I never considered the rotation would also impact this. 

I have not gotten the machine fully setup/calibrated yet. I am tinkering my way through the learning phase.

Thanks for the links, 

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[Trevor White]

Mark, you are a genius! I changed the acceleration on the rotation and it produced an instant increase in speed. 

Thanks

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