4 Maintenance and Troubleshooting

Firmware updates are done via Duet Web Control (DWC). You can access DWC by typing your Nautilus’ IP address into the search bar of your web browser. There is more information on DWC in Section 1.3.

How to Update Printer Firmware and Macros

1. Download and install Bossa here: https://github.com/shumatech/BOSSA/relea...
2. With the Nautilus Powered ON, use a paperclip to press and hold the erase button for a few seconds located above the speaker grill, to the right of the screen, on the front of your Nautilus.
3. Now use the paperclip to press the reset button located below the speaker grill on the front of your Nautilus. There will be no visual confirmation that anything has happened.
4. Plug the included USB to Micro USB cable into the USB port labeled PANEL on the left side of your Nautilus. Plug the other end into your computer.
5. Open Bossa and select the appropriate COM from the Serial Port dropdown.
   • ⓘ If there are multiple, unplug the Nautilus from your computer click the refresh button and check the list of COMs in the Serial Port dropdown. Reconnect the USB, click refresh again and see which COM is new and select it.
6. Click the Browse button and select the Nautilus Panel Firmware you downloaded.
7. Make sure to select Erase all, Lock, and Boot to flash in the Write Options section.
8. Now click the Write button located in the bottom left. A popup will appear showing the progress.
9. When complete, you can unplug the USB from your Nautilus and power cycle it for the changes to take effect.

ⓘ If for some reason something does not work along the way, restart from step 1 of the Updating Panel Firmware instructions. If you are still experiencing issues, don’t hesitate to contact support (contact information can be found in Section 1.5).

The erase and reset buttons are highlighted in red. Erase on top and reset on the bottom

The Nautilus plugin will automatically install all of the latest stable configuration files when it is downloaded from the Cura Marketplace. Once you have added your Nautilus to the Connections menu (see Section 2.2.2) you should only have to interact with the plugin in order to update it or add/edit your Nautilus connections.

Hydra Research is constantly testing the profiles for printing on the Nautilus as well as adding support for new materials and accessories. In order to take advantage of these constant improvements we recommend you keep the Cura plugin up to date:

1. When an update the plugin is available, Cura will display a red notification bubble on the Marketplace button in the top right of the Cura interface
2. Open the Marketplace by clicking that button
3. In the top right corner of the Marketplace, click the Installed header
4. Scroll down until you find Hydra Research Nautilus
5. If an update is available, there will be an Update button above Uninstall
6. Click Update and Cura will download the latest version
7. Review and accept the License for the plugin
8. Click Quit Cura in the bottom right-hand corner of the Marketplace
9. Open Cura again and you will have the latest configuration installed

When Ultimaker updates Cura, a message will appear in the bottom of your Cura interface on start-up notifying you that a new version is available. Ultimaker also makes beta releases of Cura publicly available on their website. It is strongly advised to avoid using beta releases of Cura with your Nautilus, it is possible that some features or the whole plugin may not yet be functional. When a stable release is available:

1. Navigate to Ultimaker’s website: https://ultimaker.com/software/ultimaker...
2. Click Download for Free, select your operating system, and install the downloaded package
3. Open Cura

** ⓘ Cura will automatically import configuration from the previous version. It is possible that Cura will report an error if the plugin is not compatible across both versions. Do NOT click Reset Configuration, the plugin is capable of fixing that error on install.

1. Navigate to the Marketplace and install the plugin. If the Marketplace says that the plugin is already installed, follow the update procedure. If the plugin does not appear, we recommend you continue using the previous version of Cura until a stable plugin is released.
2. If the error message still appears on reboot, contact support

If Cura reports an error message in relation to the Nautilus configuration files, the first step should be to restart Cura. If that does not fix the issue you can reset your printer configuration:

1. In Cura, navigate to Extensions→Hydra Research Nautilus Plugin→Preferences
2. Click Uninstall plugin files
3. Restart Cura (The preferences window must be closed in order for Cura to quit)
4. Open the preferences window as in Step 1
5. Click Install plugin files
6. Restart Cura again

If you wish to stop using your Nautilus with Cura and would like to uninstall the configuration and plugin, Cura may report an error if you do not uninstall properly.

1. In Cura, click on the currently active printer name in the top left corner and then Manage Printers
2. Click on Hydra Research Nautilus, then remove and finally click Yes

** ⓘ Cura will not let you delete all of your saved printers. If you only have saved Nautili you will need to add a different printer in order to delete them

1. Repeat step 2 for all Nautili in your available printers, then click Close
2. Navigate to Extensions→Hydra Research Nautilus Plugin→Preferences
3. Click Uninstall plugin files and close the preferences window
4. Restart Cura (The preferences window must be closed in order for Cura to quit)

The Nautilus is a manufacturing tool and requires some general maintenance to function consistently. It is recommended to avoid using your Nautilus in an area with a lot of dust or airborne particles.

Every time the Nautilus loads/unloads material or starts a print, it will purge some material into the purge bucket and wipe the nozzle on the silicon wiper pad. It is recommended to empty the bucket regularly.

The purge bucket height is adjustable so that the wiper pad is always at the optimal height for cleaning the nozzle. To adjust the purge bucket height:

• Loosen the two screws securing the purge bucket bracket to the left side panel about one-half turn. The purge bucket mounting screws are indicated in the picture below.
• Slide the bracket in the slot holes until the purge bucket is just below the nozzle
• ⓘ Make sure the nozzle will clear the purge bucket, if the nozzle crashes into the purge bucket it can damage your Tool Cartridge or purge bucket
• Tighten the two screws securing the purge bucket to finger tightness
• ⓘ Do not overtighten the screw as it can strip the threaded insert
• Adjust your wiper pad to a proper height to wipe the nozzle (see below for instructions)

Over time the silicone wiper pad will wear down, they are cut into squares which can allow as many as eight usable orientations before it needs to be replaced. To adjust or replace your wiper pad:

• Loosen or remove the screw that clamps down the wiper pad until it can be freed easily
• Remove the pad and orient it so a fresh corner faces the inside of the purge bucket
• Reinsert the wiper pad and tighten the screw until the pad is secure
  • ⓘ Do not overtighten the screw as it can strip the threaded insert

It is a good idea to regularly wipe down the outside of your printer with a dry or slightly damp cloth to prevent the accumulation of dust and remove fingerprints from the door and touchscreen.

It is advised to remove small bits of dust and material that may accumulate in your printer over time.

• Raise the build plate enough to comfortably access the bottom of your printer, information on how to do this is in Section 1.2.1
• Gather up the largest particles by hand or with a vacuum cleaner, being careful not to pull on the exposed cable hose
• Gently wipe the bottom of your printer with a dry or slightly damp cloth

The first layer is the foundation of every successful print, so it is important to ensure that your print surface is clean.

• To remove glue stick or other adhesion interfaces, clean your print surface with warm water and the soft side of a sponge. Do NOT wash your print surface while it is inside your printer.
• To remove dust and skin oils from your print surface, wipe it down with diluted IPA and a cloth or paper towel
• If your PEI sheet becomes warped or you notice poor adhesion, you can refresh your PEI by lightly sanding with 400 grit sandpaper

In order to perform maintenance or fix an issue with your Nautilus, you may have to remove one of the frame panels. Before removing any panels, power off your Nautilus and unplug it.

⚠ IMPORTANT In order to maintain perpendicularity and structural integrity, do NOT remove more than one panel at a time

⚠ CAUTION DO NOT remove the back panel unless instructed by support, it can be quite difficult to reinstall.

To remove the front panel, remove ALL of the screws indicated in red circles. Carefully pull the front panel straight off, being careful not to pull on the wires connected to the touch screen. Unplug the Micro-USB cable and display connector carefully.

When replacing the front panel, plug in the Micro-USB and display cables and slide the front panel onto the Y-axis rod. Then, turn all of the screws a few turns but do not tighten until all screws are properly seated. Be careful tightening the screws, too much force can strip the threads and damage your printer.

ⓘ If you tighten the screws before they are all seated, it can lead to problems with the perpendicularity of the axes which can affect print performance or damage your printer.

To remove the right side panel, remove ALL of the screws indicated in red circles. When replacing the side panel, turn all of the screws a few turns but do not tighten until all screws are properly seated. Be careful tightening the screws, too much force can strip the threads and damage your printer.

ⓘ If you tighten the screws before they are all seated, it can lead to problems with the perpendicularity of the axes which can affect print performance or damage your printer.

To remove the left side panel, remove ALL of the screws indicated in red circles. Make sure the IO cover plate is not attached to the side panel when you remove it!

When replacing the side panel, first attach the IO cover plate then turn all of the remaining screws a few turns but do not tighten until all screws are properly seated. Be careful tightening the screws, too much force can strip the threads and damage your printer.

ⓘ If you tighten the screws before they are all seated, it can lead to problems with the perpendicularity of the axes which can affect print performance or damage your printer.

This category covers material jams and general maintenance of the Nautilus tool head and extruder.

If you experience issues loading, unloading, or extruding filament then there is likely a material jam somewhere in the extrusion system. If you can load and unload material but are having extrusion issues, see Section 5.4.2 to clear jams/clogs in the Tool Cartridge.

• Insert filament into your Nautilus until strong resistance is met, it should feel like the filament is running into a wall.
• Run the Material Load macro, if the filament begins to load into the printer, then your extruder is successfully loading filament. If no filament is extruded from the nozzle or you are still having issues printing, the jam is likely in your Tool Cartridge.
• If the material does not load or you hear clicking during extrusion, then you likely need to clean your extruder and or your tool cartridge. Refer to Section 5.3.2 for extruder cleaning and Section 5.4 for issues with the Tool Cartridge.

1. Preheat the nozzle to the relevant temperature for the material that is jammed
2. Run the Material Unload macro
3. If the filament is still jammed, manually heat the nozzle to the relevant temperature for the jammed material. Then carefully try and remove the Tool Cartridge
   • ⚠ CAUTION Your tool cartridge will be HOT, the nozzle and heater block will be hot enough to cause painful burns.
4. If the Tool Cartridge comes out, set it aside to cool. If there is still filament stuck in your Tool Cartridge, remove it and follow the steps for clearing a jammed nozzle.
5. Power OFF the printer, then slowly pull the filament out from the filament insertion point.
   • ⓘ If your printer is ON you will be unable to remove the filament
6. If the Tool Cartridge is difficult to remove or if you are unable to manually remove the filament, you will have to open up the extruder to remove filament, which is detailed in the next section

• Power off your Nautilus and unplug it
• Remove all the M5 bolts securing the left side panel except for the two that attach the purge bucket mount.
  • ⓘ Do not forget to remove the bolts securing the power switch to the left side panel
• Remove the left side panel and set it aside. See Section 5.2.5 for how to do this.
• Manually and slowly move the Tool Head to the left side of the printer.
• Unscrew the two tension screws located on the right side of the extruder, which is the part immediately above the Tool Head. Open the extruder door located on the left side of the extruder.

Extruder tension screws

Open extruder door

*****ⓘ*** Be careful not to lose the springs on the tension screws if they come out with the screws

• Use the flush cutters included with your Nautilus to cut the filament at the filament insertion point on the top of your Nautilus.
• You should now be able to remove your Tool Cartridge and the attached filament from the Tool Head.
• Use tweezers and the wire brush included with your Nautilus to remove any bits of plastic from the extruder gears and the surrounding area.

• Once all debris has been removed, close the extruder door and screw back in the extruder tensioning screws so that they are flush with the outside of the extruder door.
• Replace the left side panel and screw in all M5 screws without tightening. Once all screws are in place tighten them, starting with the four corners.
• Use flush cutters to cut the filament about 5mm (~.2”) above the PTFE tube in your Tool Cartridge, then follow the instructions in section 6.4.2 to clear the jammed filament from your Tool Cartridge.

If the extruder gears strip the filament ground plastic can build up in the extruder, potentially resulting in inconsistent extrusion or jams. If you are comfortable working in tight spaces with limited visibility, this process can be done without removing the left side panel of the Nautilus. However, to make things more visible and accessible we recommend removing the left side panel for this procedure.

• Unload the material if possible. If the material is stuck, follow the steps of unloading jammed material (Section 5.3.1 and 5.4.2)
• Power off your Nautilus and unplug it.
• Remove all the M5 bolts securing the left side panel except for the two that attach the purge bucket mount. See Section 5.2.5 for pictures and more information
  • ⓘ Do not forget to remove the bolts securing the power switch to the left side panel
• Remove the left side panel and set it to the side.
• Manually and slowly move the tool head to the left side of the printer.
• Unscrew the two tension screws located on the right side of the extruder. Open the extruder door located on the left side of the extruder.
• Use tweezers and the wire brush included with your Nautilus to remove any bits of plastic inside the extruder. The wire brush is particularly helpful for brushing ground up plastic out of the extruder gear teeth.
• Once all debris has been removed, close the extruder door and screw back in the extruder tensioning screws so that they are flush with the outside of the extruder door.
• Replace the left side panel and screw in all M5 screws without tightening. Once all screws are in place tighten them starting with the four corners. See Section 5.2.5 for pictures and more information.
• You are now ready to print again.

Cleaning the extruder: the gears are indicated with red circles

The extruder tension refers to the amount of tension applied to the dual extruder gears that push filament into the Tool Cartridge. You should not need to adjust your extruder tension often, but if you have performed maintenance on the extruder or the extruder does not seem to be gripping the filament properly, you may need to adjust it.

Extruder tension adjustments are made by loosening or tightening the two screws located on the right side of the Tool Head toward the top of the extruder. Ideal tension is when these screws are flush with the extruder door on the left side of the Tool Head. If filament seems to be slipping in the extruder, you may need to increase tension. Start with one half-turn of each screw, and work your way increasing/decreasing tension in half-turn increments until you are satisfied with the results.

The two screws indicated by the red circle control extruder tension

The Tool Cartridge is the last part of the Nautilus that interacts with the filament during printing which makes it a crucial element in producing high-quality prints.

Make sure to keep your Tool Cartridges in a clean place when not in use and wipe off any dirt or grime that may accumulate with a moist cloth.

Regular printing may cause excess material to stick to the outside of the nozzle, while this will not damage your printer it may affect print quality if the material build-up is excessive. To clean the nozzle:

• If your Tool Cartridge is installed, unload the filament and remove the cartridge (See Section 1.4.1)
• Brush it with the included wire brush until the nozzle is clean, being careful not to damage your silicone sock. Large pieces of excess material can also be removed with tweezers.
• Make sure the silicone sock is properly seated, if it has become misaligned you can put it back into place using tweezers and/or a flathead screwdriver in the hard to reach areas

If extrusion becomes inconsistent or stops completely, it could be due to a jam in the Tool Cartridge. First, preheat the nozzle, move the build plate out of the way, and attempt to extrude fresh material manually from the Extrusion menu. If it does not extrude, Unload Material. If something goes wrong with unloading, see Section 5.3.1 to clear an extruder jam.

1. Ensure the nozzle is heated to the temperature of the material left in the nozzle.
2. Run the Change Tool macro and remove the Tool Cartridge.
   • ⚠ CAUTION Your tool cartridge will be HOT, the nozzle and heater block will be hot enough to cause painful burns.
3. Remove the blue clip by pulling outwards on the vertical tab, press down on the black collar, and remove the piece of PTFE tube.
4. If there is filament sticking out of your Tool Cartridge, use the pliers included with your Nautilus to firmly pull the filament out.
5. Use the needle included with your Nautilus to poke into the nozzle and clear the jammed material but do not touch the nozzle or heater block. It is recommended to wear gloves and/or use pliers to grip the needle.
   • ⚠ CAUTION Your tool cartridge will be HOT, the nozzle and heater block will be hot enough to cause painful burns.
6. Put your Tool Cartridge back into your Nautilus and load material.
7. If you are continuing to have extrusion issues, contact Hydra Research Support.

Over time the PTFE tubing that guides filament into the Tool Cartridge can become bent or damaged. If you notice printing issues with a specific Tool Cartridge, check the tube for cosmetic signs of damage. To replace the tube:

• Remove the light blue clip from the top of the Cartridge by pulling outward on the vertical tab.
• Press the collar down towards the heat sink and pull the tube out.
• Insert a fresh piece of tubing into the heat sink.
• Replace the blue clip between the black collar and the top of the heat sink.

This section covers maintenance of the movement system. The Nautilus was designed to be a low-maintenance machine; however, to ensure consistent results it is recommended to regularly check the status of your movement system. The bushings that enable the movement system are self-lubricating, do NOT oil your rods.

The Nautilus uses a CoreXY movement system which keeps the motors stationary and utilizes belts to transfer the motion of the motors to the tool head.

Proper belt tension is crucial for the accuracy and repeatability of the Nautilus’ motion system. To check the belt tension, pluck a long stretch of each belt in a similar place. It should resonate like a guitar string and both belts should produce a similar sound. A good location to do this is the center of the back of the printer.

It’s also important to check for balanced belt tension. To do this, move the tool head to the front of the printer and look at the position of the Y-Carriage on each side. Both Y-Carriages should both be nearly touching the motor mounts on each side. If they are uneven you can adjust the tension by tightening or loosening the screws that attach the belts to the tool head. Be careful not to completely unscrew the belts from the tool head.

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Red circles indicate the belt tension screws

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Red arrows indicate where to tuck excess belt

This is the wiring guide for the Duet 2 mainboard. If you have the ethernet version of the Nautilus all the wiring is the same, but you will notice the ethernet port takes the place of the WiFi module located in the lower left.

Colored squares next to the connectors represent the colors of the wires included with your Nautilus.