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    Duet 3 Mini 5+ sensorless homing configuration

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    • floblerundefined
      flobler @Veti
      last edited by

      @Veti

      Great, thank you! I also just checked and I am on the latest firmware, thanks for the tip.

      I guess figuring out the sensorless homing now will be a bit of trial and error. I will try different speeds now and see if that helps

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      • floblerundefined
        flobler
        last edited by flobler

        @Veti

        I spent the past couple of hours trying to find the correct values for sensorless homing but got no further.

        For this purpose I tried to home X only to see if I could get it home correctly, therefore only adjusted homex.g

        General:

        • Motor peak current 1a
        • M906 X500
        • config.g
        • homex.g

        Values I adjusted in homex.g throughout my tests:

        • M913 (range of adjustment 30-80%)
        • M915 S value (range of adjustment 1-3)
        • G1 F value (range from 4000-10000)

        Procedure:

        1. Set values and upload homex.g
        2. Move X 100mm away from home point
        3. Try Homing
        4. Stop

        How I changed values:

        a) Start with

        • M915 S3
        • G1 F10000
        • M913 X80 Y 80

        b) Adjust M915 to S2 and S1, try homing for each value

        c) Lower G1 F by 1000

        d) Repeat b)-c) until G1 F4000 is reached

        e) Lower M913 by 10

        f) Repeat b)-e) until M913 X30 Y30 is reached

        g) End with

        • M915 S1
        • G1 F4000
        • M913 X30 Y30

        I hope this makes sense... So far all of those tests gave me a crash.

        Are my jumps on the values too big? Is there something else I am forgetting with those tests?

        Vetiundefined 1 Reply Last reply Reply Quote 0
        • Vetiundefined
          Veti
          last edited by

          i havnt gotten around to testing sensorless homing on the mini 5
          i think you are the first person to try.

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          • Vetiundefined
            Veti
            last edited by

            i just tried with the highest sensitivity and could not get the sensorless homing to trigger.

            @dc42 any suggestions?

            dc42undefined 1 Reply Last reply Reply Quote 0
            • dc42undefined
              dc42 administrators @Veti
              last edited by

              The critical point in the doc on stall detection for the Duet 3 Mini is this:

              Additionally, the TMC2209 stepper driver used in Duet 3 Mini 5+ (and Duet 3 Tool board TOOL1LC once stallGuard is implemented in firmware), features stallGuard 4. This is optimised for operation with stealthChop, while its predecessor stallGuard 2 (TMC5160 and TMC2260) works with spreadCycle. You will need to adjust the speed at which stealthChop changes over to spreadCycle. This is set by M569 V parameter. The default is 2000.

              You will need to reduce the V parameter (at least during homing) so that at the speed of the homing move, the driver is operating in stealthChop mode. By default it is only in stealthChop mode at very low speeds, too low for homing moves. See the M569 command.

              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

              Vetiundefined 1 Reply Last reply Reply Quote 0
              • Vetiundefined
                Veti @dc42
                last edited by

                @dc42

                my steppers are running in stealhchop with up to 120mm/sec, still it would not trigger

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                • dc42undefined
                  dc42 administrators
                  last edited by

                  Confirm you are using firmware 3.2RC2 ?

                  What does M569 P# report, for values of # corresponding to the drivers for the axes you are trying to home?

                  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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                  • Vetiundefined
                    Veti @flobler
                    last edited by

                    @flobler
                    can you also with stealthchop.

                    @dc42 i configured back, and running a print, but these are the settings that i am running all the time
                    30/12/2020, 20:19:44 M569 P0
                    Drive 0 runs forwards, active low enable, timing fast, mode stealthChop, ccr 0x00053, toff 3, tblank 0, tpwmthrs 30 (125.0 mm/sec), pwmScaleSum 222, pwmScaleAuto 27, pwmOfsAuto 64, pwmGradAuto 22, pos 584

                    Drive 1 runs forwards, active low enable, timing fast, mode stealthChop, ccr 0x00053, toff 3, tblank 0, tpwmthrs 30 (125.0 mm/sec), pwmScaleSum 73, pwmScaleAuto 0, pwmOfsAuto 57, pwmGradAuto 19, pos 611

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                    • dc42undefined
                      dc42 administrators
                      last edited by

                      Please post your config.g file again, because the M569 commands in the one you posted earlier do not maintain stealthChop mode up to 120mm/sec.

                      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

                      floblerundefined 1 Reply Last reply Reply Quote 0
                      • jay_s_ukundefined
                        jay_s_uk
                        last edited by jay_s_uk

                        we've had good success with sensorless homing on the LPC port using D3 V40 after each M569 for the axis being homed.
                        we typically suggest running

                        M915 P0 S-63 H10 R1 ; Set very sensitive stall detect
                        M574 X1 S3 ; configure endstop for stall detection
                        G1 X200 H1 ; Should stall pretty much immediately
                        

                        to ensure that everything is working correctly. You can then tweak as required to work on your system

                        Owns various duet boards and is the main wiki maintainer for the Teamgloomy LPC/STM32 port of RRF. Assume I'm running whatever the latest beta/stable build is

                        Vetiundefined 1 Reply Last reply Reply Quote 0
                        • floblerundefined
                          flobler @dc42
                          last edited by flobler

                          @dc42 that was me who posted the config 🙂

                          I can confirm that I am running 3.2RC2. I will reduce the V parameter and try again. I will report back.

                          Thanks for the help!

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                          • Vetiundefined
                            Veti @jay_s_uk
                            last edited by

                            @jay_s_uk said in Duet 3 Mini 5+ sensorless homing configuration:

                            we've had good success with sensorless homing on the LPC port using D3 V40 after each M569 for the axis being homed.
                            we typically suggest running

                            tried it again with your settings and the motors keep grinding away

                            jay_s_ukundefined 1 Reply Last reply Reply Quote 0
                            • jay_s_ukundefined
                              jay_s_uk @Veti
                              last edited by jay_s_uk

                              @Veti even with setting S to -63?
                              If it doesn't immediately trigger that means there's something not right somewhere.
                              I can maybe have a go with it this morning with mine.
                              Will report back

                              Owns various duet boards and is the main wiki maintainer for the Teamgloomy LPC/STM32 port of RRF. Assume I'm running whatever the latest beta/stable build is

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                              • Vetiundefined
                                Veti
                                last edited by

                                i even tried with -64

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                                • jay_s_ukundefined
                                  jay_s_uk
                                  last edited by

                                  I can also confirm that sensorless homing does not appear to be working on the mini5+ with RC2.

                                  Owns various duet boards and is the main wiki maintainer for the Teamgloomy LPC/STM32 port of RRF. Assume I'm running whatever the latest beta/stable build is

                                  dc42undefined 1 Reply Last reply Reply Quote 0
                                  • dc42undefined
                                    dc42 administrators @jay_s_uk
                                    last edited by

                                    @jay_s_uk said in Duet 3 Mini 5+ sensorless homing configuration:

                                    I can also confirm that sensorless homing does not appear to be working on the mini5+ with RC2.

                                    It worked for me during testing. I will try to find the configuration that I used.

                                    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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                                    • gregsaunundefined
                                      gregsaun
                                      last edited by

                                      Thanks everyone for helping @flobler , he is working on an official Bear config for the Mini 5+ 🙂

                                      github.com/gregsaun - Papa Bear

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                                      • floblerundefined
                                        flobler
                                        last edited by

                                        Yeah, thanks for the help everyone, really appreciated!

                                        I just wanted to add that I am using version 0.4 of the Mini 5+. I also tried all the above and sensorless homing did not work for me. Motor was operating in stealthChop.

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                                        • floblerundefined
                                          flobler
                                          last edited by flobler

                                          Actually, that combo got it to stall the first time I tried homing X. It stalled immediately when trying to move.

                                          homex.g config.g

                                          What is weird though is that it did not work afterwards again. I need to power cycle the printer (emergency stop did not do it) for it to work again and then again it only works on the first try. This worked 5/5 times so far.

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                                          • dc42undefined
                                            dc42 administrators
                                            last edited by

                                            Bear in mind that you need to execute a tuning procedure when using stealthChop mode.

                                            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

                                            floblerundefined 1 Reply Last reply Reply Quote 0
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