Extrusion not synced with motion during tpre/tpost on CAN boards
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I had M400 commands in my script, but they had no effect. I removed them to reduce the number of lines required to repro my issue.
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@brendon, please can you test whether you still observe these behaviours when you run the Duet in standalone mode. Also, does it go away if you replace the line M98 P"/macros/priming/t0_prime" by the commands in that file. I have a feeling that it may be connected with M98 commands not being synchronised properly.
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Hi @dc42 thanks for the reply. I believe I had tried that on 3.01rc5 and had the same issue. I just moved the priming code into tpostN.g (removed m98 calls) on version 3.01rc6 and things seem to be behaving as expected. I'm about to run a test print to see how things go.
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Calling Tn from DWC/PanelDue properly swaps tools and primes now. However, attempting to run a simple test print, after a layer with T0, the whole system locked up right as T1 was called. DWC is unresponsive the Emergency Stop is ineffective in halting/rebooting the system.
I experienced a similar lockup during the first layer of a single tool print (T1 only for the entire part) I tried Saturday (also on 3.01rc6).
edit: after a power-cycle the machine seems to be running the 4-tool test print fine. Are there logs I can look at if it freezes again?
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@brendon said in Extrusion not synced with motion during tpre/tpost on CAN boards:
Calling Tn from DWC/PanelDue properly swaps tools and primes now. However, attempting to run a simple test print, after a layer with T0, the whole system locked up right as T1 was called. DWC is unresponsive the Emergency Stop is ineffective in halting/rebooting the system.
I experienced a similar lockup during the first layer of a single tool print (T1 only for the entire part) I tried Saturday (also on 3.01rc6).
edit: after a power-cycle the machine seems to be running the 4-tool test print fine. Are there logs I can look at if it freezes again?
If the freeze was caused by a reset, then the M122 software reset data will show that.
Was it running in standalone mode that caused the problem to go away, or was it moving the prime commands into the tpost file?
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Removing the macro lines causes it to behave 'more normally'. The next 4-tool test print eventually locked up while printing, this time 'in the middle of the purge'.
I can't easily access to the duet board/raspberry pi, so swapping back and forth to standalone mode isn't an easy task.
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Interestingly, I left this 'freeze' sit there to see what happened (curious if the heaters were being safely managed, etc). After enough time, the hot-end fans all stopped spinning, indicating that the heaters all disengaged and the temperatures dropped low enough for the fans to disable. Rebooting the system showed that all the hot-end temperatures had in fact dropped due to the heaters disengaging.
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I need the M122 data to see whether there was a reset
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I was unable to run M122 until after I had power-cycled.
m122 === Diagnostics === RepRapFirmware for Duet 3 MB6HC version 3.01-RC6 running on Duet 3 MB6HC v0.6 or 1.0 Board ID: 08DJM-956L2-G43S4-6JTD6-3SJ6N-KA6YG Used output buffers: 1 of 40 (13 max) === RTOS === Static ram: 154084 Dynamic ram: 162604 of which 20 recycled Exception stack ram used: 288 Never used ram: 76220 Tasks: ETHERNET(blocked,804) NETWORK(ready,2076) HEAT(blocked,1200) CanReceiv(suspended,3452) CanSender(suspended,1488) CanClock(blocked,1436) TMC(blocked,216) MAIN(running,4776) IDLE(ready,76) Owned mutexes: === Platform === Last reset 00:05:33 ago, cause: software Last software reset at 2020-04-06 17:52, reason: User, spinning module LinuxInterface, available RAM 75972 bytes (slot 2) Software reset code 0x0010 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x04435000 BFAR 0x00000000 SP 0xffffffff Task 0x4e49414d Error status: 0 Free file entries: 10 SD card 0 not detected, interface speed: 37.5MBytes/sec SD card longest block write time: 0.0ms, max retries 0 MCU temperature: min 28.2, current 28.7, max 29.0 Supply voltage: min 23.9, current 24.0, max 24.0, under voltage events: 0, over voltage events: 0, power good: yes 12V rail voltage: min 12.1, current 12.2, max 12.2, under voltage events: 0 Driver 0: standstill, reads 10087, writes 14 timeouts 0, SG min/max 0/0 Driver 1: standstill, reads 10088, writes 14 timeouts 0, SG min/max 0/0 Driver 2: standstill, reads 10088, writes 14 timeouts 0, SG min/max 0/0 Driver 3: standstill, reads 10089, writes 14 timeouts 0, SG min/max 0/0 Driver 4: standstill, reads 10092, writes 11 timeouts 0, SG min/max 0/0 Driver 5: standstill, reads 10093, writes 11 timeouts 0, SG min/max 0/0 Date/time: 2020-04-06 17:58:32 Slowest loop: 6.54ms; fastest: 0.21ms === Move === Hiccups: 0(0), FreeDm: 375, MinFreeDm: 375, MaxWait: 0ms Bed compensation in use: none, comp offset 0.000 === MainDDARing === Scheduled moves: 0, completed moves: 0, StepErrors: 0, LaErrors: 0, Underruns: 0, 0 CDDA state: -1 === AuxDDARing === Scheduled moves: 0, completed moves: 0, StepErrors: 0, LaErrors: 0, Underruns: 0, 0 CDDA state: -1 === Heat === Bed heaters = 0 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1, chamberHeaters = -1 -1 -1 -1 === GCodes === Segments left: 0 Movement lock held by null HTTP* is ready with "M122" in state(s) 0 Telnet is idle in state(s) 0 File is idle in state(s) 0 USB is idle in state(s) 0 Aux is idle in state(s) 0 Trigger* is idle in state(s) 0 Queue is idle in state(s) 0 LCD is idle in state(s) 0 SBC is idle in state(s) 0 Daemon* is idle in state(s) 0 Autopause is idle in state(s) 0 Code queue is empty. === Network === Slowest loop: 0.69ms; fastest: 0.01ms Responder states: HTTP(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) FTP(0) Telnet(0) Telnet(0) HTTP sessions: 0 of 8 - Ethernet - State: establishingLink Error counts: 0 0 0 0 0 Socket states: 0 0 0 0 0 0 0 0 === CAN === Messages sent 1367, longest wait 3ms for type 6012 === Linux interface === State: 0, failed transfers: 0 Last transfer: 19ms ago RX/TX seq numbers: 15528/10694 SPI underruns 0, overruns 0 Number of disconnects: 0 Buffer RX/TX: 0/0-0 === Duet Control Server === Duet Control Server v1.3.1.0 Code buffer space: 4096 Configured SPI speed: 8000000 Hz Full transfers per second: 15.82 -
After the power-cycle, I attempted the same gcode again. This time the system locked up while waiting for the hot-ends to come to temperature (After g28/g29). It appears to still be in the 'last g29 location' (ie, waiting for m109 command to complete). I have attached the first few lines of the affected gcode for completeness.
G90 M82 M106 S0 M140 S60 M104 S205 T0 M104 S205 T1 M104 S205 T2 M104 S205 T3 M190 S60 G28 ; home all axes G29 M109 S205 T0 M109 S205 T1 M109 S205 T2 M109 S205 T3edit: during this test the machine 'maintained' the hot-end/bed temperatures throughout the freeze. They were not 'higher than I was expecting after the power-cycle', but they had retained their set temperatures.
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Actually, it looks it should be reasonably easy to access the sd card on the Duet3, I should be able to convert it over to standalone mode this afternoon. I'll report back.
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Rolling back to stand-alone mode was very easy. I've got the same gcode running now, we haven't made it 'the furthest', yet, but it appears to be running smoothly.
It's worth noting that transition time between tools seems faster. With the SBC attached, there was a momentary 'pause' between tfreeN.g and tpreN.g. The transitions are now immediate in stand-alone mode.
edit: we have made it further than any other attempt. I'll let it keep running as I'm benchmarking 'time per cm with minimal printing' (ie tool-change overhead).
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@brendon Sorry to hear you're having problems with the CAN board while connected over the SBC. I'd like to figure out why it is happening, but I will need two separate debug logs for this. Can you please connect your Duet 3 over USB to a computer, open a serial terminal, send
M111 P3 S1and try to reproduce this bug once with the SBC connected and once without it? I hope that will allow me to spot differences in the execution of G/M/T-codes and to track down the underlying bug.
