[?] Duet 3 3HC stepper direction sometimes wrong

[TurboMOD]

hi everyone,
I have an issue with my Expansion board. It looks like the stepper direction is sometimes wrong.

Printer is a new built Voron 2.4 (Core XY), it`s controlled by Duet 3 6HC + 3HC and Paneldue. Firmware: RepRapFirmware for Duet 3 MB6HC 3.3RC3 (2021-05-26)

; Drive directions
M569 P0 S0 ; Z0
M569 P1 S1 ; Z1
M569 P2 S0 ; Z2
M569 P3 S1 ; Z3
M569 P4 S0 ; A
M569 P5 S0 ; B    
M569 P1.0 S0 ; Extruder
 
; Motor mapping and steps per mm
M584 X4 Y5 Z0:1:2:3 E1.0

what happened:
-started a print, but extruder didn`t extrude, it was rectracting.
-I stopped the print, went to config.g (thought I messed up something)
-changed extruder direction from S0 to S1 (still wondering because i remembered S0 to be correct)
-clicked save, board restarts, tried again, wanted to extrude, but extruder did retract.
-changed back from "M569 P1.0 S1" to "M569 P1.0 S0" and it worked correctly

Some time later, it did it again, I went to config.g, hited save (without changing anything) to get the board restart and it fixed the issue. I already checked all connections without finding any issues so I connected the stepper from 3HC Driver 0 to Driver 1, changed config.g to:

; Drive directions
M569 P0 S0 ; Z0
M569 P1 S1 ; Z1
M569 P2 S0 ; Z2
M569 P3 S1 ; Z3
M569 P4 S0 ; A
M569 P5 S0 ; B    
M569 P1.1 S0 ; Extruder
 
; Motor mapping and steps per mm
M584 X4 Y5 Z0:1:2:3 E1.1

and some time later, it happened again. Yesterday I changed A/B stepper from 6HC to 3HC and connected the extruder stepper to 6HC:

; Drive directions
M569 P0 S0 ; Z0
M569 P1 S1 ; Z1
M569 P2 S0 ; Z2
M569 P3 S1 ; Z3
M569 P1.0 S0 ; A
M569 P1.1 S0 ; B    
M569 P4 S0 ; Extruder
 
 
; Motor mapping and steps per mm
M584 X1.0 Y1.1 Z0:1:2:3 E4

I just powered on the printer, did a M564 H0 to test directions without homing and x/y axis direction is wrong X+ gives me a X- movement and Y+ gives me a Y- movement.

Iam not sure yet if this always happens after powering on the board when it was off for some time, I think, if i switch off power and switch it on again, it might fix the issue aswell. Is there anything else, I can try? I uploaded config.g and Diagnostics (M122) while the issue appeared. Hopefully some more experienced user can see anything.
Also I dont see a difference in the LEDs (Vin, 12V, 5V, 3.3V are always on, DIAG LEDs are flashing simultaneously (6HC and 3HC)

config.g
M122.txt
M122 B1.txt

[Veti]

have you updated the bootloader on the 3hc?

it might be a race condition with the initialization

https://duet3d.dozuki.com/Wiki/Updating_the_bootloader_on_Duet_3_expansion_and_tool_boards

[TurboMOD]

@veti I just checked it,
M122 B1:
Bootloader ID: not available

after update:
Bootloader ID: SAME5x bootloader version 2.3 (2021-01-26b1)

M122 B1 updated.txt

I will switch it off, wait a bit and try again. Thanks

[dc42]

@turbomod do you have a G4 S5 command near the start of config.g? This is sometimes needed to ensure that the expansion boards have started up before commands in config.g refer to expansion boards. Otherwise, the first command in config.g that refers to an expansion board may fail - and that may be the M569 command that sets the direction.

[deckingman]

@turbomod I had exactly the same problem with extruder motors connected to expansion boards running backwards a couple of beta versions ago. I thought it was fixed. If the bootloader thing doesn't fix it, try adding a delay to the start of your config.g before any motor commands that affect motors connected to expansion boards. If you can guesstimate the time it takes for the sync LEDs on the expansion board to flash in sync with the main board, set the delay to a second or so longer than that time.

[TurboMOD]

@dc42 there is no G4 command in config.g. my config.g got uploaded to the first post, if you want to take a look at it.

After powering off, I did wait for 30 or 40 minutes, powered it on and didnt see wrong directions. Do you want me to add G4 command or wait to verify that the bootloader update fixed the issue?

[dc42]

@turbomod I suggest you add the G4 command anyway.

[TurboMOD]

I just did another try, still no wrong connection. Also I added G4 S5 to my config.g

Thanks everyone