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    Duet 3 Mini 5+ sensorless homing configuration

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    • 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 ๐Ÿ™‚

                  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+ ๐Ÿ™‚

                              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
                                    • floblerundefined
                                      flobler
                                      last edited by flobler

                                      Thanks! Just found the docs on that. Will apply and report back.

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                                      • floblerundefined
                                        flobler @dc42
                                        last edited by

                                        @dc42 I think I made progress.

                                        I am still only trying to home X for testing purposes. Here is the config: homex.g
                                        config.g

                                        Initially when first I power on the printer and then try to home X, it does result in a crash. But if I then press the emergency stop to end the crash and tell X to home again, X homes successfully (not elegant yet but it homes).

                                        Homing then works until I power cycle the printer or use the emergency stop. Once I do that I am back at the start. Homing X results in a crash, then I use the emergency stop and after that I can repeatedly home X successfully until I power cycle the printer or use the emergency stop again.

                                        I suspect this must have something to to with how I configured homex.g...

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                                        • dc42undefined
                                          dc42 administrators
                                          last edited by

                                          You need to run the stealthChop tuning procedure first. You can do this is the homing files.This is what I suggest:

                                          1. Execute a tiny move (1 or 2 microsteps) away from the homing direction.
                                          2. Pause for 100ms using G4.
                                          3. Execute a small move away from the homing direction, e.g. 10mm.
                                          4. Execute the homing move.

                                          Don't forget to reduce current for the homing move (M913).

                                          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 1
                                          • floblerundefined
                                            flobler @dc42
                                            last edited by flobler

                                            @dc42 thanks, I am not sure if I am doing this correct though. So far I am still getting quite mixed results (stalling after power cycle before home point is reached and after that only homing correctly when the extruder is within 10mm of the homing location, and then also not all the time).

                                            I am trying the following (again only trying X for now):

                                            1. Set stall detection sensitivity and reduce V+H+T parameter
                                              0135d6d9-3919-40bc-8d10-ab9b9771a4a1-image.png

                                            2. Run tuning procedure and reduce motor current
                                              2b09ec7d-1a51-4134-b9b8-a9e6397cd95d-image.png

                                            3. Homing move
                                              1885c967-8d4f-4a26-89b3-f4430893bebf-image.png

                                            4. Reset sensitivity, V+H+T and return current to 100%
                                              bcd2f31d-8e06-4732-952d-732755e5aa61-image.png

                                            The above is all my homex.g contains... Is there still something I am doing obviously wrong?

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