Z-Axis Movement Issue on Nozzle N2 with Single Rocker Arm Structure in OpenPnP

[Chintu Gurbani]

I am encountering an issue with my pick and place machine, which has a single rocker arm structure head. I have carefully followed all the instructions from the "Issues and Solutions" tab to configure OpenPnP.

Here are the specifics of my setup:

• I have set the middle point as Z=0 when the endstop is triggered.
• When Nozzle N1 is selected in Machine Control and I jog the Z-axis in the negative direction, the Z-axis moves physically, and the DSO reflects this movement correctly.
• However, when Nozzle N2 is selected in Machine Control and I jog the Z-axis in the negative direction, the Z-axis does not move physically, even though the DSO reflects the movement.

The firmware I am using is Marlin. I have attached the log files, Machine XML, and pictures of the head for reference.

Any insights or suggestions on how to resolve this issue would be greatly appreciated.

[Chintu Gurbani]

These are the screenshots of fields in Openpnp software

[mark maker]

To determine whether it is a OpenPnP or controller problem, please send the log:

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

_Mark

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[Chintu Gurbani]

I have attached the log file

[mark maker]

As you see in the log, OpenPnP is generating symmetric G Code, i.e. the Z axis goes to positive and negative range.

2024-07-10 12:12:58.002 AbstractHeadMountable DEBUG: N1.moveTo((400.000000, 480.000000, 22.000000, 0.000000 mm), 0.4)
2024-07-10 12:12:58.018 GcodeDriver DEBUG: [serial://COM21] >> G1   Z-23.6   F12000 ; move to target, 20000
2024-07-10 12:12:58.018 GcodeDriver$ReaderThread TRACE: [serial://COM21] << ok
2024-07-10 12:12:58.018 GcodeDriver TRACE: [serial://COM21] confirmed G1   Z-23.6   F12000 ; move to target

2024-07-10 12:13:17.466 AbstractHeadMountable DEBUG: N2.moveTo((400.000000, 480.000000, 22.000000, 0.000000 mm), 0.4)
2024-07-10 12:13:17.466 GcodeDriver DEBUG: [serial://COM21] >> G1   Z23.6   F12000 ; move to target, 20000
2024-07-10 12:13:17.466 GcodeDriver$ReaderThread TRACE: [serial://COM21] << ok
2024-07-10 12:13:17.466 GcodeDriver TRACE: [serial://COM21] confirmed G1   Z23.6   F12000 ; move to target

However, you are using positive Z coordinates here, so actually you are raising the nozzle, not lowering it. I hope you are aware of the OpenPnP coordinate system, and specifically how it handles Z (see "A Word about Z Coordinates"):

https://github.com/openpnp/openpnp/wiki/Machine-Axes#the-openpnp-coordinate-system

But that is actually irrelevant for your problem, if the axis is physically not moving then I guess it is a configuration problem on Marlin. 

I don't know Marlin, but if I were to guess, the mid-homing  switch at Z=0 is probably configured as an end-stop and Marlin is not allowing motion past it. Just a wild guess.

@Marlin experts, please help!

_Mark

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