Repetier for RostockMax and RAMBO

[Polygonhell]

******** PLEASE READ *******
Since John is now maintaining a version of Repetier Firmware I would suggest that users use that version available from here http://download.seemecnc.com I believe.
I've just pushed an update to my version, it has the delta acceleration fix published last week in it.

Since I'm currently not using the SeeMeCNC Hotend, or their extruder if you want to continue using my version you need to be careful with configuration.h.

The ESteps/mm will be wrong for a SeeMeCNC extruder, I have turned down the extruder digi-pot value because my extruder uses a different stepper.
I am also experimenting with various hotends, so the thermistor is currently set as an epcos 100K thermistor rather then the one use in the current SeeMeCNC hotend.


********* The following is the original post + an edit or two ***********

The development version of Repetier has a lot of Delta support and generally seems better than the current Marlin Delta support.
I've been having a couple of problems with the current Marlin build which I believe are related to the way the Delta code interacts with the planner, notably, it's not always respecting the speed requested, this is most visible when a skirt is being used or a raft is being used, where the extruder motion is notably jerky.

I spent some time yesterday setting up Repetier, it requires a lot of changes in configuration.h, and a bug fix in pins.h, but the result is IMO much better than the current Marlin support, you can literally hear the difference, motion is much smoother.

You can download it from here
https://github.com/polygonhell/Repetier-Firmware

Make sure you are pulling the master branch.
Repetier host will let you set most of the important settings in the EEPROM
The X/Y/Z max lengths (X_MAX_LENGTH etc in configuration.h if you don't just change it in the EEPROM) should be set to your Z height.
If you're not familiar with firmwares that use EEPROM values they override any changes you make in configuration.h, so if you are making changes there you have to send M502 to reset to the configuration.h values and M500 to store those in the EEPROM.

IMPORTANT YOU MUST SET THE AXIS_STEPS CORRECTLY IN BOTH THE FIRMWARE AND IN THE EEPROM - There is what IMO is a bug in repetier currently that requires this be the case for Delta printers, I've opened a ticket for it on github

The thermistor is reading low, by about 10 degrees at about 220C, currently I'm just setting temperatures hotter, at some point I'll mess with the Beta value to improve the accuracy.
I had to disable the LCD screen, I don't have one to test yet, it caused issues when I tried it enabled, it may work if you do have one, and it has some nice Delta specific features, most notably the ability to level the bed without touching the endstop screws.

Disclaimer - I've printed all of 2 parts with this so YMMV.

EDIT: updated link to master and added warning about Axis steps.

[geneb]

I'm really interested in testing this - I'll give it a shot when my new thermistors show up (blew up the one in the hot-end).

Have you sent your changes to Repetier to get them into the main branch?

tnx!

g.

[dgirard]

I too am noticing the jerkiness...I've also notices that in the Marlin firmware there are bugs where the limit switches are not always respected ; they're apparently not scanned on all moves, so there are circumstances where you can slam the skakes into the top of the frame and make the belts grind...) You can slam them into the bottom too, but there's no limit switches to test for there ...

Assuming I don't' have any other issues I'll grab this build and apply it and give it a go tomorrow morning...

Thanks!

[Polygonhell]

I'm really interested in testing this - I'll give it a shot when my new thermistors show up (blew up the one in the hot-end).

Have you sent your changes to Repetier to get them into the main branch?

tnx!

g.

Just the pins.h bug fix, I believe he fixed it late last night.
The rest is just configuration, repetier is a lot less friendly when it comes to configuration than Marlin, but what blocked me was that initializing the LCD based UI seemed to mess a lot of things up, it could be the default pin mapping for the LCD/encoder etc, or an issue with the way SPI is used clashing with the Digipot code.
I don't have an LCD controller yet, I ordered one last week, I'll fix the controller stuff when I get it and get a chance.

[v8tony]

Ok, I haven't printed anything yet but OMG is the motion smoother... I've been wondering why my machine used to shreak (about the best way to describe it).... Now it makes much smoother and more muted tones... it's sooooo much nicer to watch it move around... I'm tuning the PIDs on the temp control now... So, can you confirm that I'm looking in the right spot if I enter them in configuration.h in the following area...

/** P-gain. Overridden if EEPROM activated. */
#define EXT0_PID_P 12.99
/** I-gain. Overridden if EEPROM activated.
*/
#define EXT0_PID_I 0.58
/** Dgain. Overridden if EEPROM activated.*/
#define EXT0_PID_D 72.17

Here is what M303 spit out...

00:01:33.573 : N1178 M303 S200 P0 *61
00:01:33.576 : ok 1178
00:01:33.576 : PID Autotune start
00:05:28.688 : bias: 72 d: 72 min: 198.16 max: 205.65
00:06:18.413 : bias: 70 d: 70 min: 197.63 max: 202.74
00:07:03.766 : bias: 67 d: 67 min: 198.16 max: 202.26
00:07:03.766 : Ku: 20.81 Tu: 45.35
00:07:03.766 : Classic PID
00:07:03.766 : Kp: 12.48
00:07:03.769 : Ki: 0.55
00:07:03.770 : Kd: 70.77
00:07:48.201 : bias: 67 d: 67 min: 198.16 max: 202.10
00:07:48.201 : Ku: 21.66 Tu: 44.43
00:07:48.201 : Classic PID
00:07:48.201 : Kp: 12.99
00:07:48.205 : Ki: 0.58
00:07:48.205 : Kd: 72.17
00:08:31.145 : bias: 65 d: 65 min: 198.55 max: 201.94
00:08:31.145 : Ku: 24.46 Tu: 42.94
00:08:31.145 : Classic PID
00:08:31.148 : Kp: 14.68
00:08:31.149 : Ki: 0.68
00:08:31.149 : Kd: 78.79

It also seems like the hot end thermistor is now about 15 deg C colder than the thermistor is reading (based on a thermocouple in the other side)...

Any tips are welcome...

Tony

[Polygonhell]

Yeah the I think the beta value is correct for the Semitec thermistor SeeMeCNC are using, but I agree, it's reading high, mine was out by about 10 degrees at 220C.
The fix is to pick a beta value that works, or type in a thermistor table, but it's a lot of trial and error, I'll get to it eventually, but if you feel like playing with it, go for it, and let me know what value you end up with.

You can just update the PID values in the EEPROM using repetier host, the hot key to open the EEPROM settings window is Command E on a Mac, I would guess it's either Ctrl-E or Alt-E on a windows box.

[v8tony]

I flashed back the firmware that I was running and I'm seeing about the same difference between the thermistor and the TC that I'm using. So, for what it's worth it seems to be working just the same. So, that's good at least in the respect that my "calibration" for print temp doesn't need to change. I am not satisfied with the PID control though, I entered the values from the M303 command in the firmware and they don't seem to take... I had to use the Alt-E and enter them in the EEPROM... even after that I still get a 10 degree overshoot on the initial temp set... is that "normal"... it was definitly tuned in better then that with the old firmware...

Ok, now off to actually print something...

Tony

[Polygonhell]

I flashed back the firmware that I was running and I'm seeing about the same difference between the thermistor and the TC that I'm using. So, for what it's worth it seems to be working just the same. So, that's good at least in the respect that my "calibration" for print temp doesn't need to change. I am not satisfied with the PID control though, I entered the values from the M303 command in the firmware and they don't seem to take... I had to use the Alt-E and enter them in the EEPROM... even after that I still get a 10 degree overshoot on the initial temp set... is that "normal"... it was definitly tuned in better then that with the old firmware...

Ok, now off to actually print something...

Tony

if you change the values in the firmware and re-download it to the board, they won't take, because the eeprom values will override them.
You can either use M502 followed by M500 after flashing the firmware or just set them directly in the EEPROM with repetier host.
I don't see that sort of overshoot, but I'm running a fairly large fan on all the time blowing across the hotend, which may reduce the effect.
There is a setting something like Extr1 PID Drive Max, turn it down, you may also want to reduce min, these control the maximum and minimum settings that the PID pin can have when controlling the hotend, 255 is entirely on 0 is off, I think marlin clamps the extruder max PID to 128, and I'm not sure about the min.

[v8tony]

Ok, I'm used to reflashing the firmware to change those kinds of settings... so, this is a welcome change, much easier to deal with...

I lowered the Max and min and I'm getting about a 3 degree overshoot (about what I expected)... My prints are looking pretty good so far and the machine just sounds happier for sure...

Now, to get the LCD working again would be killer...

Tony

[Polygonhell]

Ok, I'm used to reflashing the firmware to change those kinds of settings... so, this is a welcome change, much easier to deal with...

I lowered the Max and min and I'm getting about a 3 degree overshoot (about what I expected)... My prints are looking pretty good so far and the machine just sounds happier for sure...

Now, to get the LCD working again would be killer...

Tony

I have an LCD Controller on order, along with an Onyx bed, might turn up this week, in which case I'll take a look at it over the weekend.
Repetier also has an option to retract while moving, which I keep meaning to try.

[v8tony]

I am Soooooo much happier with this firmware... the motion is smoother and it lays out plastic more evenly... big improvement (IMHO)...

I do have 2 comments:
I get inconsistency on how it "homes"... I had to slow it WAY down from the setting that it was at when I downloaded... also, I don't like how it homes all the axis at once. I prefered (maybe I'm just crazy) the way the Marlin firmware homed each axis slowly one at a time... I get a pretty big swing in Z height now... I think I need to slow it down even more...

The motion seems "finer" to me (if that makes any sense)... when jogging around to find 0 before sometimes the machine would ignore a 0.1mm request and then jump 2 on the next command... I never understood why... now, it's nice and smooth and responds to every 0.1 request... (even sounds happier doing it)...

Tony

[Polygonhell]

I am Soooooo much happier with this firmware... the motion is smoother and it lays out plastic more evenly... big improvement (IMHO)...

I generally agree IMO I think it's got much smoother motion.

I do have 2 comments:
I get inconsistency on how it "homes"... I had to slow it WAY down from the setting that it was at when I downloaded... also, I don't like how it homes all the axis at once. I prefered (maybe I'm just crazy) the way the Marlin firmware homed each axis slowly one at a time... I get a pretty big swing in Z height now... I think I need to slow it down even more...

I run the homing at the speed I uploaded 60mm/s, and after adjusting my bed offset slightly from my Marlin settings, I'm consistently within 0.05mm. FWIW I turned the homing speed down from the 80mm/s that the firmware was originally homing at.
As long as the limit switches can't move, the only speed that should matter is the speed of the second move.
I think the repetier homing code is likely just as robust as the Marlin code, and 3 times faster :p

The motion seems "finer" to me (if that makes any sense)... when jogging around to find 0 before sometimes the machine would ignore a 0.1mm request and then jump 2 on the next command... I never understood why... now, it's nice and smooth and responds to every 0.1 request... (even sounds happier doing it)...
Tony

Marlin has something in the path planner that ignores moves less that 5 (by default) steps, it tries to combine them with a subsequent move, this is why it ignores 0.1mm jogs.
I actually think this code is one of the issues with it not respecting the requested speed/uneven motion, because the delta bot requires none linear moves, the code just breaks down any move into a lot of small sub millimeter moves, and queues them. I believe this results in two issues, the first is that it can flood the planning buffer which causes it to block on the add to the buffer (Repetier deals with this differently), the second is if you're print speed is low enough the majority of moves fall under the 5 step limit and I think the code is really designed to deal with the case as an exception rather than the rule.

[daftscience]

This may seem like a dumb question. But after downloading the Repetier firmware from github what do I need to change in the config file before flashing it to the Rambo board?


Tom

[geneb]

Tom, if you look at the first post in the thread, Polygonhell lists the parameters that need to be changed.

Polygonhell:Do you know if the Repetier-firmware author is planning on adding support for the RRD LCD interface panel? From the notes I read in the code, the interface it supports isn't wired the same as the RRD device.

tnx.

g.

[Polygonhell]

Tom, if you look at the first post in the thread, Polygonhell lists the parameters that need to be changed.

Polygonhell:Do you know if the Repetier-firmware author is planning on adding support for the RRD LCD interface panel? From the notes I read in the code, the interface it supports isn't wired the same as the RRD device.

tnx.

g.

I have an LCD on order, if it arrives before the weekend I'll make the changes, if it doesn't it'll be a few weeks before I can get to it.

[Polygonhell]

This may seem like a dumb question. But after downloading the Repetier firmware from github what do I need to change in the config file before flashing it to the Rambo board?


Tom

If you are using my branch and your machine is wired as in the manual, nothing.
You will need to change the Z height in the EEPROM settings in repetier host and it's no a bad idea to run PID auto tune and change those settings in the EEPROM.

[daftscience]

Thanks, I guess I can't figure out how to clone branches :/ I just downloaded the zip and it worked like a charm.

[kometen]

Thanks for the files for Repetier.
FYI I had to invert the direction for all 3 drives when I switched from the Marlin to your setup.

Above it is written that the values in the configuration or eeprom can be changed from Repetier. How is
that done?

Br Poul

[Polygonhell]

Thanks for the files for Repetier.
FYI I had to invert the direction for all 3 drives when I switched from the Marlin to your setup.

Above it is written that the values in the configuration or eeprom can be changed from Repetier. How is
that done?

Br Poul

The direction is correct if you wired the motors as described in the manual.
The Marlin drop was incorrect for a while, I think John has since fixed it, so if you adjusted the motor wiring to work correctly in the marlin drop then yes they run the wrong way.
I run Repetier Host on a Mac the key to edit the EEPROM values is Command-E, it's also a menu item, I would assume the Windows version is similar.
EEPROM values do not cover all Configuration.h values, but if there is an EEPROM value then it overrides the corresponding Configuration.h value.
You can change all the EEPROM values to match the Configuration.h values by sending M502 to reset to the Configuration.h values and M500 to store those in the EEPROM.

[halopend]

I was able to fix the LCD by mapping out the extra pins in the fastio.h file and modifying the pins_arduino.h file as outlined in http://www.reprap.org/wiki/RamboLCD

I put the firmware up at
https://github.com/Halopend/Repetier-Fi ... evelopment

You can download the modified pin mappings for Arduino 1.0.3 from
http://www.mediafire.com/view/?0m1zt8o8cqwpm1t
or http://www.reprap.org/wiki/RamboLCD for versions 0022 or 0023

This goes into /Applications/Arduino.app/Contents/Resources/Java/hardware/arduino/variants/mega/pins_arduino.h on the mac for version 1.0.3
and /Applications/Arduino.app/Contents/Resources/Java/hardware/arduino/cores/arduino/pins_arduino.c on the mac if using the file from http://www.reprap.org/wiki/RamboLCD

I'm not a huge fan of the layout repetier uses for the LCD as it seems to have many layered menus, but it looks like it might have some really useful features within. Manually controlling the position seems really studdery, and somehow trying to mess with the leveling feature has reversed the direction it homes at for me (!) but overall Im impressed with its smooth operation over marlin.

[geneb]

Awesome. I'll have to give that a shot this weekend.

Thanks!

g.

[kometen]

A question for the Repetier software (works great):
Configuration.h

// maximum positions in mm - only fixed numbers!
// For delta robot Z_MAX_LENGTH is maximum travel of the towers and should be set to the distance between the hotend
// and the platform when the printer is at its home position.
// If EEPROM is enabled these values will be overidden with the values in the EEPROM
#define X_MAX_LENGTH 363.0
#define Y_MAX_LENGTH 363.0
#define Z_MAX_LENGTH 363.0

Can I use these setting to adjust the level instead of the 3 screws at the end stops?

how to understand the (only fixed numbers) ??

/Poul

[Polygonhell]

Can I use these setting to adjust the level instead of the 3 screws at the end stops?

/Poul

It's my understanding that yes that works and it's how the auto bed leveling works from the LCD controller. Having said that I haven't tried it and I haven't looked at the source code in enough details to verify, if it does work, please let me know.

[kometen]

ok, I will revert when tested.
/Poul

[Polygonhell]

ok, I will revert when tested.
/Poul

BTW You'll need to set the values in the EEPROM settings, not in configuration.h.