G29 Bed Leveling Error about marlin

[HendrikJan-5D]

I followed your advice.

no more compiler errors

M502
SENDING: M502
echo: Hardcoded Default Settings Loaded
M500
SENDING:M500
echo:Settings Stored (900 bytes; crc 48770)
M503
SENDING: M503

G28 homing for all axes work
G29 bed leveling works.

I need to do more tests to see if everything works.
But it looks good.

Thanks for the help and support.

Is there a possibility to add an extra axle?
Then I can also rotate the printer bed.

To be continued,
We'll keep in touch.

[HendrikJan-5D]

Marlin-9axis_pull

I have resolved the issues I previously reported.

Controlling and reporting the 7th axis works.

Marlin>src>pins>pins_postprocess.h

490 #if LINEAR_AXES >= 7
491 #ifdef M_STOP_PIN
492 #if O_HOME_TO_MIN <---------------------> O must be M
493 #define M_MIN_PIN M_STOP_PIN
494 #define M_MAX_PIN -1
495 #else
496 #define M_MIN_PIN -1
497 #define M_MAX_PIN M_STOP_PIN
498 #endif
499 #endif
500#endif

Marlin>src>feature>tmc_util.ccp

942 // #if AXIS_IS_TMC(M)
943 // if (print_m) tmc_parse_drv_status(stepperM, i);
944 // #endif
945 // #if AXIS_IS_TMC(O)
946 // if (print_o) tmc_parse_drv_status(stepperO, i);
947 // #endif
948 // #if AXIS_IS_TMC(P)
949 // if (print_p) tmc_parse_drv_status(stepperP, i);
950 // #endif
951 // #if AXIS_IS_TMC(Q)
952 // if (print_q) tmc_parse_drv_status(stepperQ, i);
953 // #end

This code occurs 2x and gives printout errors at ( M122 S0 )

I want to test everything even more extensively.
But at first , everything seems to work.

[HendrikJan-5D]

Hello DerAndere1,

I completely reconfigured Marlin bugfix 2.0 on 22-07-2021.
But the bed leveling problem has not been solved.
After bed leveling, the axes X , Y and Z are locked.
The axes A , B and C can be operated.
I made a log file of the whole test.
And also send the complete configured software

test Marlin-bugfix-2.0.x.zip

logfile Marlin bugfix 2.0 bed leveling problem.zip

[HendrikJan-5D]

DerAndere1

I have found and solved the bed level problem.
My print bed is round it can tilt and turn.
I use the bed leveling to measure whether the bed is inlevel and horizontal.
Mechanically,the bed is perfectly level in the X direction.
That is also the direction the bed tilts.
So it is only important to measure in the Y direction whether the bed is leveld.
I did this with 3 measuring points in a line.
And here it goes wrong.
The firmware cannot handle these values.
I have now configured the 3 measuring points in a triangle.
And all 6 axes can now be used.

You are never too old to learn something. ( 75 years )

I will now proceed to test Marlin-9axis_pull for the 7th axis.
Has there been any progress since my last test report ?

If desired, I can also test an 8th axis later.
I still have a separate linear axis that I can connect to the motherboard.

Thanks for the support.

[HendrikJan-5D]

Hello,

I am new to this forum.

As a member of 3d.hcc.nl , a hobby club of members who are involved in 3d printing, 3d scanning, cad software (fusion 360).
I am involved in technical support and new developments in the 3d field.
In the context of this I am building a 5 axis 3d printer.
This can be done by turning and tilting the printhead, or by turning and tilting the bed.

Because I couldn't choose the best method, I decoder to built both in the 3d printer, which results in a 3d printer with 7 axes.

See https://youtu.be/rdrwuG2sWQU

All this is controlled by a BTT GTR V1.0 plus M5 V1.0 board with TMC2226 drivers
and your custom Marlin-Marlin2ForPipetBot software for 6 axes.
Many thanks for this!

Globally all 6 axes work,
G28 also works well for all the 6 axes.
But with G29 bed leveling I get the message that I have to Home first.
With Marlin-bugfix-2.0.x, bed leveling works well. = ( 3 axes )
But with Marlin-Marlin2ForPipetBot it doesn't work, and I keep getting the message that I have to Home first.
Can you help me to solve this problem

Kind regards,
HendrikJan-5D

config files.zip

[DerAndere1]

I just saw your message, thx for the report and the video (the first time I saw a 6 axis printer with my firmare, I use the firmare for different purposes.. congrats to your machine!). The most advanced branch is https://github.com/DerAndere1/Marlin/tree/6axis_PR1 but even there, G29 is probably still broken as it is still an open feature request. To test it, you have to use the default config files from that branch and adjust them to your needs again. Configs from Marlin2ForPipetBot do not work for https://github.com/DerAndere1/Marlin/tree/6axis_PR1 . No guarantees that g29 works, though, I cannot test bed leveling in hardware, so it is very difficult for me to fix this problem. One user managed to make a very old version of Marlin-6axis work with G29, A link to that firmware can be found in the last comment of the discussion at #15 . I cannot give any support for that code, though. It will probably not work with your stepper drivers, Please feel encouraged to report issues related to https://github.com/DerAndere1/Marlin/tree/6axis_PR1 at https://github.com/DerAndere1/Marlin/issues . but I only have very limited resources to move this forward. Things that are working with 6-axis-Marlin are documented here: https://github.com/DerAndere1/Marlin/wiki . things not listed there are not tested yet. If you have no experience in C++ coding, you should consider using an alternative firmware that officially supports your board and drivers. . otherwise: G29 is handled in file Marlin/src/gcode/bedlevel/abl/G29.cpp . I will also have a closer look at that file.

[DerAndere1]

In the video it looks as if the printer was homing, but X Y and Z still show non-zero values. Are you sure you issued a G28 command before G29?

[HendrikJan-5D]

Thank you for your response.

G28 homing is performed by all 6 axes.
There must be a flag somewhere that he is ready.
G29 is waiting for that flag before it can start.

I am now trying to configure Marlin-6-axis-dev.
To see if G29 is working
But run into a bug when choosing TMC2209 for I, J, and K

See also

MarlinFirmware#21618

[HendrikJan-5D]

Hello DerAndere

With Marlin2ForPipetBot I can home and control 6 axes (and 3D print)
When I configure Marlin-6axis_PR1 it goes wrong if I choose TMC2209 for the axes I, J, K instead of A4988
The errors were caused by rewriting Marlin2ForPipetBot to Marlin-6axis_PR1
and are mainly in the files settings.cpp

1241 #if AXIS_HAS_STEALTHCHOP (I)
1242 tmc_stealth_enabled.I = stepperI.get_stealthChop_status ();
1243 #endif **** get_stored_stealthChop ****
1244 #if AXIS_HAS_STEALTHCHOP (J)
1245 tmc_stealth_enabled.J = stepperJ.get_stealthChop_status ();
1246 #endif **** get_stored_stealthChop ****
1247 #if AXIS_HAS_STEALTHCHOP (K)
1248 tmc_stealth_enabled.K = stepperK.get_stealthChop_status ();
1249 #endif **** get_stored_stealthChop ****

There are also some errors in trinamic.cpp

In pins_BTT_GTR_V1_0.h I corrected the following

36 #ifdef E2END
37 #undef E2END
38 #endif
39 #define E2END 0x1FFF // EEPROM end address 24C64 (64Kb = 8KB)

Can you have a look at the other compiling errors with my configuration.

config files 6axis_PR1.zip

[DerAndere1]

Thanks for finding the bugs. I guess that fixing errors in Trinamic.cpp beyond getting rid of compile errors will be hard for me, because I do not have those drivers. I would happily accept a pull request. If you have a fixed trinamic.cpp file, you could alternatively attach a zip-compressed copy of the fixed file to a comment here. Off topic: I will get in touch with 3d.hcc.nl. Sounds fun.

[HendrikJan-5D]

DerAndere1 , Thanks for your reply.
In the meantime I have spent many hours to get the software Marlin-6axis_PR1 working.
What didn't work out.
Do you know who rewritten Marlin-Marlin2ForPipetBot to Marlin-6axis_PR1.
Because this caused errors with the TMC2209 drivers.
Your Marlin-Marlin2ForPipetBot works with the TMC2209 drivers for the axes I, J, K.

I found errors from compiler data in the following files

Settings.ccp
lines 1242, 1245, 1248, 3876, 3881, 3886, 3935, 3938, 3941
get_stored_stealthChop

trinamic.h
Here I miss in several places
CHOPPER_TIMING_I
CHOPPER_TIMING_J
CHOPPER_TIMING_K

trinamic.cpp
Here I miss line 303
#define I_HAS_HW_SERIAL 1
#define I_HAS_SW_SERIAL 1

#define J_HAS_HW_SERIAL 1
#define J_HAS_SW_SERIAL 1

#define K_HAS_HW_SERIAL 1
#define K_HAS_SW_SERIAL 1

Conditionals_post.h
from 1969 onwards

#ifndef I_SLAVE_ADDRESS
#define I_SLAVE_ADDRESS 0
#endif

#ifndef J_SLAVE_ADDRESS
#define J_SLAVE_ADDRESS 0
#endif

#ifndef K_SLAVE_ADDRESS
#define K_SLAVE_ADDRESS 0
#endif

Errors may also have arisen because a SanityCheck has been added.

I will send You a configured working software folder Marlin-Marlin2ForPipetBot.

And a configured non-working software folder Marlin-6axis_PR1.
if you change the drivers from I, J, K A4988 to TMC2209 it will go wrong.

Would you take a look at this.

config-Marlin-6axis_PR1.zip
config-Marlin-Marlin2ForPipetBot.zip

[DerAndere1]

Thx for looking closer into this. I just added commit b26ef9c to the 6axis_PR1 branch that should fix the sections you mentioned. I will test-compile with your configs in the next days and fix remaining errors.

[DerAndere1]

thinkyhead added commit MarlinFirmware@54ddd6f that might fix G29. Could you test in hardware?

[HendrikJan-5D]

I am going to reconfigure and test the modified Marlin-6axis_PR1 on my printer.

[HendrikJan-5D]

The last Marlin-6axis_PR1 reconfigured.
Version 02000801

Made changes in pins_BTT_GTR_V1_0.h
compiler errors
Fixed errors in setting.cpp.
Remains a notification in settings.ccp ????

firmware.bin loaded in the printer.

M122 S0 stepper info for X Y Z A B C E = ok
Home X Y Z = ok
Home A B C axis not working ????
G1 A10 B10 C10 works
G29 returns with Home First error

I will send you the complete configured files

Marlin-6axis_PR1 test.zip

problem message after compiling

"resource": "/d:/Marlin-6axis_PR1 test/Marlin/src/module/settings.cpp",
"message": "iteration 3 invokes undefined behavior [-Waggressive-loop-optimizations]",
"startLineNumber": 2779,

2779 LOOP_LINEAR_AXES(a) probe.offset[a] = dpo[a]; // [ a ] gives problem notification ??????????

See changes below

corrected rules in settings.cpp

3906 const bool chop_i = stepperI.get_stored_stealthChop();
3911 const bool chop_j = stepperJ.get_stored_stealthChop();
3916 const bool chop_k = stepperK.get_stored_stealthChop();
3965 if (stepperI.get_stored_stealthChop()) { say_M569(forReplay, SP_I_STR, true); }
3968 if (stepperJ.get_stored_stealthChop()) { say_M569(forReplay, SP_J_STR, true); }
3971 if (stepperK.get_stored_stealthChop()) { say_M569(forReplay, SP_K_STR, true); }

corrected rules in pins_BTT_GTR_V1_0.h

36 #ifdef E2END
37 #undef E2END
38 #endif
39 #define E2END 0x1FFF // EEPRO end adress 24C64 ( 64Kb = 8KB )

58 #define SOL1_PIN PH6 // changed from PS_ON_PIN

114 #define I_STOP_PIN PI4 // M5 M1_STOP
116 #define J_STOP_PIN PF4 // M5 M2_STOP
118 #define K_STOP_PIN PF6 // M5 M3_STOP

172 #define I_STEP_PIN PF3
173 #define I_DIR_PIN PG3
174 #define I_ENABLE_PIN PF8
175 #ifndef I_CS_PIN
176 #define I_CS_PIN PG4
177 #endif

179 #define J_STEP_PIN PD14
180 #define J_DIR_PIN PD11
181 #define J_ENABLE_PIN PG2
182 #ifndef J_CS_PIN
183 #define J_CS_PIN PE15
184 #endif

186 #define K_STEP_PIN PE12
187 #define K_DIR_PIN PE10
188 #define K_ENABLE_PIN PF14
189 #ifndef K_CS_PIN
190 #define K_CS_PIN PE7
191 #endif

267 #if ENABLED(M5_EXTENDER)
268 #define I_SERIAL_TX_PIN PG4
269 #define I_SERIAL_RX_PIN PG4

271 #define J_SERIAL_TX_PIN PE15
272 #define J_SERIAL_RX_PIN PE15

274 #define K_SERIAL_TX_PIN PE7
275 #define K_SERIAL_RX_PIN PE7

[DerAndere1]

Thx. I am currently applying the changes to settngs.cpp. I do not like to mess around with board-specific pin files in the PR1 branch yet. Are the following changes specific to the PR1 branch or should the same changes be applied to upstream MarlinFirmware/Marlin, independent of 6xis support?

36 #ifdef E2END
37 #undef E2END
38 #endif
39 #define E2END 0x1FFF // EEPRO end adress 24C64 ( 64Kb = 8KB )

58 #define SOL1_PIN PH6 // changed from PS_ON_PIN

[DerAndere1]

2779 LOOP_LINEAR_AXES(a) probe.offset[a] = dpo[a]; // [ a ] gives problem notification ??????????

I currently try the following workaround (untested): settings.cpp change line 2775 - 2783 to:

  #if HAS_BED_PROBE
    constexpr float dpo[] = NOZZLE_TO_PROBE_OFFSET;
    static_assert(COUNT(dpo) == LINEAR_AXES, "NOZZLE_TO_PROBE_OFFSET must contain offsets for each linear axis X, Y, Z,....");
    #if HAS_PROBE_XY_OFFSET
      LOOP_LINEAR_AXES(a) probe.offset[a] = dpo[a];
    #else
      probe.offset.set(LIST_N(LINEAR_AXES, 0, 0, dpo[Z_AXIS]), 0, 0, 0));
    #endif
  #endif

With this change, in your configuratiion.adv you need to add some zeros to the following array. E.g. if you use LINEAR_AXES 6, change to
1141 #define NOZZLE_TO_PROBE_OFFSET { 10, 10, 0, 0, 0, 0 }

I have no idea how bed probing should behave with LINEAR_AXES >= 4.
Any suggestions? does it actually need to add an offset to positions of I, J, K axes? or is a fixed I-/J-/K-offset of 0 okay for all machines?

[HendrikJan-5D]

36 #ifdef E2END
37 #undef E2END
38 #endif
39 #define E2END 0x1FFF // EEPRO end adress 24C64 ( 64Kb = 8KB )

I got this information from the BIGTREETECH service team.
and has to do with the EEprom size on the motherboard
BTT GTR V1.0

58 #define SOL1_PIN PH6 // changed from PS_ON_PIN

Here you should be able to choose between a SOL1_PIN PH6 or PS_ON_PIN PH6

In Configuration.h line

1135 # NOZZEL_TO_PROBE_ OFFSET {10, -2, 2}.

This has nothing to do with how many axles you use.
This indicates the position difference between the nozzle and the probe.
relative to the bed

[HendrikJan-5D]

Do you have any idea why I can not Home Axes A ,B ,and C

[DerAndere1]

I just added some commits to 6axis_PR1 that fixed homing of A, B, and C for me. You should be able to copy and paste your last config into the current 6axis_PR1 code

[DerAndere1]

Regarding the EEPROM size: What is the main symtom/error if you keep in your pins_BTT_GTR_V1_0.h file the old

#define MARLIN_EEPROM_SIZE                0x2000  // 8KB (24C64 ... 64Kb = 8KB)

? In case that causes any actual symptoms, please open a bug report at https://github.com/MarlinFirmware/Marlin/issues/

[HendrikJan-5D]

I got an error message related to the EEPROM version.
In some versions it was already adjusted in pins_BTT_GTR_V1_0.h
This information comes from the manufacturer BigTreeTech.
I think it makes sense for the other configurations too.
But have no experience opening a bug report.

I will test whether the homing now works with A, B, and C.

[DerAndere1]

I opened a bug report at MarlinFirmware#21977 . If you like you can post a comment in that discussion and provide a config for latest upstream Marlin bugfix-2.0.x that reproduces the EEPROM error.

[DerAndere1]

The current 6axis_PR1 is probably broken again but I provide a link to the 6axis_PR1 branch at the time of commit https://github.com/DerAndere1/Marlin/tree/2c232728ae4e80d34c7a88695f38248a8c2d0dc8 where G28 was supposed to work

[HendrikJan-5D]

I have copy and paste my last config files

configuration.h
configuration_adv.h
pins_BTT_GTR_V1_0.h

into the current 6axis_PR1 code

And then I got an Error related on my EEprom size change.
removed it in pins_BTT_GTR_V1_0.h

Furthermore, I got an error regarding your changed in the BED PROBE OFFZET problem

In settings.cpp

Lines 2632 to 2640

#if HAS_BED_PROBE
constexpr float dpo[] = NOZZLE_TO_PROBE_OFFSET;
static_assert(COUNT(dpo) == LINEAR_AXES, "NOZZLE_TO_PROBE_OFFSET must contain offsets for each linear axis X, Y, Z....");
#if HAS_PROBE_XY_OFFSET
LOOP_LINEAR_AXES(a) probe.offset[a] = dpo[a];
#else
probe.offset.set(LINEAR_AXIS_LIST(0, 0, dpo[Z_AXIS], 0, 0, 0));
#endif
#endif

This has to do with line 1135 of
configuration.h

#define NOZZLE_TO_PROBE_OFFSET {10, -20, 2}

Which blocks further compilation

'LOOP_XYZ' was not declared in this scope
identifier "LOOP_XYZ" is undefined
"message": "'a' was not declared in this scope",
"message": "identifier "a" is undefined",
"message": "expected a ';'",

[DerAndere1]

You last issues are expected. Currently you have to extend the array NOZZLE_TO_PROBE_OFFSET in Configuration.h with elements of vallue 0 for each extra axis.
E.g. when you have LINEAR_AXES 6, then it must be of the form

#define NOZZLE_TO_PROBE_OFFSET { 10, -20, 2, 0, 0, 0 }

Regarding EEPROM size change:
Can you test, if it works without the change to E2END 0x1FFF in your adapted pins_BTT_GTR_1_0.h file if you send M502 followed by M500 after uploading the new firmware version ?

[DerAndere1]

The prescribed sequence of uploading Marlin, then sending M502 followed by M500 is documented on the Marlin homepage,
at the beginning of section Configure/Configuration.h as well as under
section Install/Troubleshooting/EEPROM errors

[DerAndere1]

Support for up to 8 linear axes (later 9 or even 10) plus extruder is just ready for testing since some hours. For the progress, see https://github.com/DerAndere1/Marlin/pulls . You can download, configure and compile the firmware from branch 9axis_pull (https://github.com/DerAndere1/Marlin/tree/9axis_pull). I still exprect compile errors though.

[HendrikJan-5D]

DerAnder1

I configured Marlin-9axis_pull for 7 axes
And get a compile error.

SanityCheck.h Marlin\src\inc
macro "GANG_7" requires 8 arguments, but only 6 given

SanityCheck.h
571 constexpr float sbm[] = AXIS_RELATIVE_MODES;
572 static_asset(COUNT(sbm) == LOGICAL_AXES, "AXIS_RELATIVE_MODES must contain " _LOGICAL_AXES_STR "elements.");

This has to do with

Configuration_adv.h
912 #define AXIS_RELATIVE_MODES { false, false, false, false, false, false, false, false }

including all configured Marlin-9axis_pull files

Marlin-9axis_pull test.zip

[HendrikJan-5D]

When further testing Marlin-6axis_RP1 I run into the following problem.
G28 home all axes
G1 works for all axes
G29 bed leveling works
M503 indicates that M420 S0 has now become M420 S1
G1 no longer works for all axes
this can be solved by
M502
M500
G28 home
Now I can operate all axes again

In summary: after performing a bed leveling all axes are blocked by something written in the EEPROM

[DerAndere1]

Thanks for narrowing down the isse. It would be great to see logging data from the leveling. To get it, please enable DEBUG_LEVELING_FEATURE in Configuration.h, then make sure that you send M502, followed by M500 directly after uploading your configured firmware. Use a host software to send G-code to the printer via USB. Send M111 S38. Verify that the serial monitor of the host software is configured so that you can see all info and errors that are sent from the 3D printer. Then do your bed leveling / homing routine and again test G1 for all axes.
Finally, please copy the logging data from the serial monitor of your host software and attach it here. By the way, I fixed compilation with LINEAR AXES 7 in branch 9axis_pull, I tested compilation with your configs.

[HendrikJan-5D]

After looking at the first log data I saw that the z probe offset was wrong .
I made some changes in Configuration.h.
1135 #define NOZZLE_TO_PROBE_OFFSET { 10,-20, -2, 0, 0, 0 } was ( { 10, -20, 2, 0, 0 ,0})
1330 #define Z_MIN_POS -5 ( was 0 )
1333 #define Z_MAX_POS 257 ( was 253.90 )
This had no influence on the blocking of the X , Y and Z axis after bed leveling.

See info at the logging file

Regarding 9axis_pull error
In which file did you make the corrections?

log file.zip

[HendrikJan-5D]

Here is some additional information.
After M502

M502
SENDING:M502
reset_bed_level
current_position= X0.00 Y0.00 Z10.00 A20.00 B5.00 C2.00 : Leveling ON
current_position= X0.00 Y0.00 Z0.00 A20.00 B5.00 C2.00 : ...Now OFF
current_position= X0.00 Y0.00 Z0.00 A20.00 B5.00 C2.00 : sync_plan_position
Axis X home_offset = 0.00 position_shift = 0.00
Axis X min:-173.00 max:220.00
Axis Y home_offset = 0.00 position_shift = 0.00
Axis Y min:-217.00 max:220.00
Axis Z home_offset = 0.00 position_shift = 0.00
Axis Z min:-5.00 max:257.00
Axis A home_offset = 0.00 position_shift = 0.00
Axis A min:0.00 max:90.00
Axis B home_offset = 0.00 position_shift = 0.00
Axis B min:0.00 max:90.00
Axis C home_offset = 0.00 position_shift = 0.00
Axis C min:0.00 max:90.00
echo:Hardcoded Default Settings Loaded

[DerAndere1]

One batch of changes to make 7 axes compile in 9axis_pull was this commit 638ccdd, you see multiple files changed, indicated by the colors

[DerAndere1]

Code for up to 6 axes was now merged into official MarlinFirmware/Marlin bugfix-2.0.x. I identified a hidden bug that was fixed in MarlinFirmware/Marlin bugfix 2.0.x . Wait until PR 22056 "Fix compilation after 6axis merge" was also merged into MarlinFirmware/Marlin or wait until I add the fix to the 9axis_pull branch. I will inform you when its ready.

[HendrikJan-5D]

I had downloaded the latest version of Marlin-9axis_pull this morning.
I copied my previously configured files into this
And found the following problems.

serial.cpp
118 LIST_N(DOUBLE(LINEAR_AXES), SP_X_STR, x, SP_Y_STR, y, SP_Z_STR, z, SP_I_STR, i, SP_J_STR, j, SP_K_STR, k, SP_M_STR, m, SP_O_STR, o, SP_P_STR, p, SP_Q_STR, q))
) ; The last ) must be removed

motion.cpp
665 void do_blocking_move_to_xyzijkm_o(const xyze_pos_t &raw, const_float_t o, const_feedRate_t fr_mm_s/=0.0f/) {
Should be I think xyzijk_m

I derived this from the structure of the other axes

but there are even more compile errors in it

[DerAndere1]

I must have forgotten to copy those changes from my local test branch to the 9axis_pull branch.
When I change motion.cpp line 665 to

void do_blocking_move_to_xyzijk_m(const xyze_pos_t &raw, const_float_t m, const_feedRate_t fr_mm_s/=0.0f/) {

it compiles. This is now fixed in branch 9axis_pull. In case it does not compile for you, try PlatformIO -> Project Tasks -> Default -> General -> Clean All, then build again. Dont forget to use your own platformio.ini, Configuration.h, Configuration_adv.h and pins_BTT_GTR_V1_0.h files

[HendrikJan-5D]

I have reconfigured the latest version Marlin-6axis_PR1 02000900
And am running into a compiler error.

planner.ccp

"message": "expected a ')'",
"startLineNumber": 1454,
"startColumn": 11,

"message": "expected ')' before 'block'",
"startLineNumber": 1454,
"startColumn": 82,

"message": "label "block" was referenced but not defined",
"startLineNumber": 2027,
"startColumn": 10,

1451 float high = 0.0;
1452 for (uint8_t b = block_buffer_tail; b != block_buffer_head; b = next_block_index(b)) {
1453 block_t *block = &block_buffer[b];
1454 if (LINEAR_AXIS_GANG(block->steps.x, || block->steps.y, || block->steps.z, block->steps.i, || block->steps.j, || block->steps.k)) {
1455 const float se = (float)block->steps.e / block->step_event_count * SQRT(block->nominal_speed_sqr); // mm/sec;
1456 NOLESS(high, se);
1457 }

2027 && block->steps.b < MIN_STEPS_PER_SEGMENT,

Marlin-6axis_PR1 test 3.zip

[HendrikJan-5D]

Hardware Test Report

I tested the latest version Marlin-9axis_pull on the 7th axis.

Copied from the previous test version.
configuration.h
configuration-adv.h
pins_BTT_GTR_V1_0

No compile errors.

7th axis no end stop
7th axis cannot homen
7th axis can rotate
The bed leveling is blocked by not being able to home the 7th axis

See further information in the test report.

Test report 7e axis.zip

Marlin-9axis_pull test 3.zip

[HendrikJan-5D]

Marlin-9axis_pull

I see differences between axis 4,5,6 and axis 7

Conditionals_post.h

341 #if LINEAR_AXES >= 6
342 #ifdef MANUAL_K_HOME_POS
343 #define K_HOME_POS MANUAL_K_HOME_POS
344 #else
345 #define K_HOME_POS TERN(K_HOME_TO_MIN, K_MIN_POS, K_MAX_POS)
346 #endif
347 #endif
348 #if LINEAR_AXES >= 7
349 #ifdef MANUAL_M_HOME_POS
350 #define M_HOME_POS MANUAL_M_HOME_POS
351 #else
352 #define M_HOME_POS (M_HOME_DIR < 0 ? M_MIN_POS : M_MAX_POS)
353 #endif
354 #endif

[DerAndere1]

Thanks for the reports and for having a look at the code. Line 345 uses a macro which expands to the same logic as the ternary operator used in line 352. So the logic is functionally equivalent for both axes. I will update the mentioned line anyway whenever I find the time to have a look at the 7th axis homing code. Won't happen this week i guess.

[DerAndere1]

The bed leveling bug that broke axis movement after G29 is now fixed in upstream MarlinFirmware/Marlin bugfix 2.0.x.

[HendrikJan-5D]

Thanks.
I'm going to reconfigure it.
And test with the printer.

[HendrikJan-5D]

I did some additional testing.
As for the bed leveling problem G29.
I have completely reconfigured Marlin-bugfix-2.0.x only for the 3 axes.
Even without the I , J and K axis it goes wrong after bed leveling.
And the axes X , Y and Z are also blocked.

[DerAndere1]

Then I would do the following things:
i. Save you current configs for Marlin bugfix-2.0.x with LINEAR_AXES 3.
ii. Verify that you have obtained official Marlin bugfix-2.0.x from upstream: https://github.com/MarlinFirmware/Marlin/tree/bugfix-2.0.x after 30th July 2021.
iii. Follow these steps again:

    1. Enable DEBUG_LEVELING_FEATURE and M114_DETAIL and re-flash the firmware.
    2. Connect to your printer from host software such as Cura, Printrun or Repetier Host.
    3. Send M502 and M500 to ensure your Configurations are applied.
    4. Issue the command M111 S247 to enable maximum logging.
    5. Perform a G28 to do your standard homing procedure.
    6. Do a G29 to probe the bed. This will also enable bed leveling.
    7. Do some of the moves that revealed problems before. Take notes.
    8. Copy the log output into a .TXT file.

v. Test Marlin 2.0.7.2 (only 3 axes) and check, if axes X, Y and Z behave as expected during homing, bed leveling and G1 moves.
vi. If the bug does not occur with version 2.0.7.2, we can exclude a problem in your hardware or configuration. In this case, open a bug report upstream at https://github.com/MarlinFirmware/Marlin/issues and fill in all requested data, including your configs from step i) and the log file from step iii.8.
At the end of you report you should mention that with LINEAR_AXES 6, axes X, Y and Z are blocked while axes I, J, K can be moved with G1

[HendrikJan-5D]

I did some additional research at Marlin-9axis_pull.
And found 2 files where I had doubts.
Would you also like to check this out.

Marlin > src > inc > conditionals_post.h

At line 352, the code is different from line 345.

341 #if LINEAR_AXES >= 6
342 #ifdef MANUAL_K_HOME_POS
343 #define K_HOME_POS MANUAL_K_HOME_POS
344 #else
345 #define K_HOME_POS TERN(K_HOME_TO_MIN, K_MIN_POS, K_MAX_POS)
346 #endif
347 #endif
348 #if LINEAR_AXES >= 7
349 #ifdef MANUAL_M_HOME_POS
350 #define M_HOME_POS MANUAL_M_HOME_POS
351 #else
352 #define M_HOME_POS (M_HOME_DIR < 0 ? M_MIN_POS : M_MAX_POS)
353 #endif

Marlin > src > module > planner_bezier.cpp

From line 191 I also expect

 interp(position.m, target.m, t)
 interp(position.o, target.o, t)
 interp(position.p, target.p, t)
 interp(position.q, target.q, t)

188 interp(position.z, target.z, t),
189 interp(position.i, target.i, t),
190 interp(position.j, target.j, t),
191 interp(position.k, target.k, t)

[DerAndere1]

Great that you solved the problem for 6 axes.
I wanted to file a bug report at MarlinFirmware/Marlin to request documentation that AUTO_BED_LEVELING_3POINT does not work if all three points lie in a straight line, but then I found that it is already documented in Configuration.h, lines 1500 - 1501:

 * - AUTO_BED_LEVELING_3POINT
 *   Probe 3 arbitrary points on the bed (that aren't collinear)

Regarding 9 axis code: The line for the 7th axis still uses standard C++ syntax (ternary operator)

#define M_HOME_POS (M_HOME_DIR < 0 ? M_MIN_POS : M_MAX_POS)

The code for the other axes was refactored using a macro. The above line can be rewritten as

#define M_HOME_POS TERN(M_HOME_TO_MIN, M_MIN_POS, M_MAX_POS)

without change in functionality.

 interp(position.m, target.m, t)
 interp(position.o, target.o, t)
 interp(position.p, target.p, t)
 interp(position.q, target.q, t)

looks like these lines were indeed forgotten. Thanks!

[HendrikJan-5D]

The concept (that aren't collinear) from English to Dutch,
was not clear to me that these 3 points should not lie on a line

[HendrikJan-5D]

Hi DerAndere.
I made a video to show you the hardware test of 6 Axes
Marlin-bugfix-2.0.x Version 02000901

https://youtu.be/7ZiCtQBDt-0

[DerAndere1]

This is fantastic!!! Thanks for the energy and time you invested in fixing these issues. I commited your proposed changes to my 9axis_pull branch. I will close this issue as fixed. Whenever you find new problems, you can open a new, dedicated report at https://github.com/DerAndere1/Marlin/issues (you can keep the bug report short). I expect more problems, but those should be discussed seperately.

Watching your video of the 6 axis test run was really satisfying. The next big step is rebasing my 9axis_pull branch onto current upstream MarlinFirmware/Marlin/bugfix-2.0.x , anyone who is good at resolving merge conflicts is welcome to help out with that task.