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    Stall detection with 2 motors

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    • noisettetbouundefined
      noisettetbou @Phaedrux
      last edited by

      @Phaedrux
      I understand trying to stall multiple motors at the same time is problematic but it's work on my other printer (nema23) and on my X axis on this one.
      The only differences on this printer (nema17) with the 2 motors of X are the 2 motors of Y turn in opposate direction and are slightly stronger.

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      • Phaedruxundefined
        Phaedrux Moderator
        last edited by

        You're missing an H value from your M915. Did you calculate it?

        https://duet3d.dozuki.com/Wiki/Stall_detection_and_sensorless_homing#Section_Minimum_recommended_speed_for_stall_detection

        @noisettetbou said in Stall detection with 2 motors:

        M574 X1 S3 ; configure sensorless endstop for low end on X
        M574 Y1 S3 ; configure sensorless endstop for low end on Y

        You say you're using 3.1.1 but your config is using syntax for RRF2.

        Please send M115 and confirm what firmware you're actually using.

        Z-Bot CoreXY Build | Thingiverse Profile

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        • noisettetbouundefined
          noisettetbou @Phaedrux
          last edited by

          @Phaedrux
          09/09/2020 à 21:53:09 M115
          FIRMWARE_NAME: RepRapFirmware for Duet 2 WiFi/Ethernet FIRMWARE_VERSION: 3.1.1 ELECTRONICS: Duet WiFi 1.02 or later FIRMWARE_DATE: 2020-05-19b2

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          • noisettetbouundefined
            noisettetbou @Phaedrux
            last edited by

            @Phaedrux
            And I've tryed M574 Y1 S4 and indicate some differents M915 H parameters but no change. Force on endstop or false detection.

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            • Phaedruxundefined
              Phaedrux Moderator
              last edited by

              Well what behaviour do you want when a stall is detected? stop both motors or stop each individually?

              https://duet3d.dozuki.com/Wiki/Gcode#Section_M574_RepRapFirmware_Num_3

              New endstop type S4 means use motor stall detection (like S3) but if there are multiple motors, stop each one individually as it stalls. S3 means use motor stall detection but as in RRF 2: stop all relevant motors when the first one stalls.

              What did you calculate for the H value?

              Can you send M98 P"config.g" in the gcode console and report the results?

              Z-Bot CoreXY Build | Thingiverse Profile

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              • noisettetbouundefined
                noisettetbou @Phaedrux
                last edited by noisettetbou

                @Phaedrux
                And I'm not sure of my calculation of the H parameter and speed. This is my Y motors (2 in series) of my Y axis specifications :
                Spécification électrique
                Numéro de pièce du fabricant: 17HS24-2104D
                Type de moteur: Bipolar Stepper
                Angle de pas: 1.8 deg
                Couple de maintien: 65Ncm(92.3oz.in)
                Courant/phase: 2.10A
                Tension: 3.360V
                Résistance/phase: 1.60ohms
                Inductance: 3.00mH ± 20%(1KHz)

                I've found more than 1000 mm/s. It's crazy !

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                • noisettetbouundefined
                  noisettetbou @Phaedrux
                  last edited by

                  @Phaedrux said in Stall detection with 2 motors:

                  Well what behaviour do you want when a stall is detected? stop both motors or stop each individually?

                  I want to stop both motors. No choice, they're in series on the same driver.
                  This is the results of my M98 P"config.g" :
                  09/09/2020 à 22:16:49 M98 P"config.g"
                  HTTP is enabled on port 80
                  FTP is disabled
                  TELNET is disabled
                  Warning: Heater 0 appears to be over-powered. If left on at full power, its temperature is predicted to reach 365C
                  Warning: Heater 0 appears to be over-powered. If left on at full power, its temperature is predicted to reach 269C

                  Note my My PID aren't done for heaters errors.

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                  • Phaedruxundefined
                    Phaedrux Moderator @noisettetbou
                    last edited by Phaedrux

                    @noisettetbou said in Stall detection with 2 motors:

                    I've found more than 1000 mm/s. It's crazy !

                    That seems wrong based on your motor specs. My calculation gives 145mm/s

                    b06c2710-6e30-4399-b172-89ab830a5ef1-image.png

                    Stall detection H value			
                    Hmin = full_steps_per_rev * rated_current * actual_current/(sqrt(2) * pi * rated_holding_torque)			
                    Full_steps_per_rev	200		
                    Rated_current (A)	2.100		
                    Actual_Current (A)	1.000		
                    Rated_holding_torque (Nm)	0.650		
                    Squareroot(2)	1.414		
                    Pi	3.142		
                    Hmin	145.436
                    

                    You may be able to reduce that speed further if you reduce the motor current further. You should try reducing it as much as possible such that you still have reliable movement. Right now you're using 50%, try 30%.

                    Z-Bot CoreXY Build | Thingiverse Profile

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                    • noisettetbouundefined
                      noisettetbou @Phaedrux
                      last edited by

                      @Phaedrux
                      Thanks for the calculation. I've confused the units of torque.

                      I've tried speeds up to 300 mm/s and differents current between 20 and 100% but nothing.

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                      • Phaedruxundefined
                        Phaedrux Moderator
                        last edited by

                        When you say the motors rotate in opposite directions, what do you mean?

                        Can you post a photo of the printer?

                        Z-Bot CoreXY Build | Thingiverse Profile

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                        • noisettetbouundefined
                          noisettetbou @Phaedrux
                          last edited by noisettetbou

                          @Phaedrux
                          That's a link to a photo of Y axis :
                          https://photos.app.goo.gl/oeFLBnE1iaKtcJMNA
                          The motors are biaxials and synchonysed by a shaft

                          oliofundefined 1 Reply Last reply Reply Quote 0
                          • oliofundefined
                            oliof @noisettetbou
                            last edited by oliof

                            @noisettetbou possibly crazy talk but could you disable one stepper for homing only? As they're synchronized by a shaft you should be able to live with that.

                            <>RatRig V-Minion Fly Super5Pro RRF<> V-Core 3.1 IDEX k*****r <> RatRig V-Minion SKR 2 Marlin<>

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                            • noisettetbouundefined
                              noisettetbou @oliof
                              last edited by

                              @oliof
                              It's a good idea. I've tried and it is the same problem.
                              So 2 motors on same driver and the series wiring aren't the source of the problem.
                              I'm trying to invert drivers.

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                              • noisettetbouundefined
                                noisettetbou @noisettetbou
                                last edited by

                                I've tried to invert driver with X and always the problem. As if my Y motors aren't compatibles with the stall detection.
                                Is it possible ? Crazy, no ?

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                                • oliofundefined
                                  oliof
                                  last edited by

                                  Oh two steppers on a single driver? I can see how that will be bothersome/impossible. Maybe if you drive each motor independently ...

                                  <>RatRig V-Minion Fly Super5Pro RRF<> V-Core 3.1 IDEX k*****r <> RatRig V-Minion SKR 2 Marlin<>

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                                  • noisettetbouundefined
                                    noisettetbou @oliof
                                    last edited by

                                    @oliof
                                    It's no a problem if current is respected. I use two motors on same driver in X axis and no problem. And I done as you said for trying, so there is only one motor right now, and no good stall detection...

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                                    • Phaedruxundefined
                                      Phaedrux Moderator
                                      last edited by

                                      I think an endstop switch might be in your future.

                                      Z-Bot CoreXY Build | Thingiverse Profile

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                                      • noisettetbouundefined
                                        noisettetbou @Phaedrux
                                        last edited by

                                        @Phaedrux
                                        I think too... 😢 but I would like to understand

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                                        • dc42undefined
                                          dc42 administrators
                                          last edited by

                                          Have you used the motor EMF calculator at reprapfirmware.org to verify that you have enough VIN voltage to drive 2 motors in series without loss of torque?

                                          Duet WiFi hardware designer and firmware engineer
                                          Please do not ask me for Duet support via PM or email, use the forum
                                          http://www.escher3d.com, https://miscsolutions.wordpress.com

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                                          • oliofundefined
                                            oliof
                                            last edited by

                                            Difference between X and Y is often that Y moves more mass and there for needs better tuning. But I agree that an endstop likely will give you reliable results faster.

                                            <>RatRig V-Minion Fly Super5Pro RRF<> V-Core 3.1 IDEX k*****r <> RatRig V-Minion SKR 2 Marlin<>

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