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    Duet3D 1HCL - Closed Loop Controller Beta test

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    • supertb1undefined
      supertb1 @lirwin17
      last edited by

      @lirwin17 I'm not trying to be extra special here... I guess I need to start from the start... how do I trouble shoot this issue I am having?

      T3P3Tonyundefined lirwin17undefined 2 Replies Last reply Reply Quote 0
      • T3P3Tonyundefined
        T3P3Tony administrators @supertb1
        last edited by

        @supertb1

        I think you are using M569.5 instead of M569.6

        What does sending

        M569.6 P50.0 V31

        Result in?

        www.duet3d.com

        lirwin17undefined supertb1undefined 2 Replies Last reply Reply Quote 0
        • lirwin17undefined
          lirwin17 @supertb1
          last edited by

          @supertb1

          it dawned on me that I probably would have to disconnect the encoder from the 1HCL board as well... you guys did a great job on these boards... very smart...lol

          Hmm you should never need to disconnect the encoder from the board unless you want to - the board should work in open-loop mode without anything needing to be disconnected, and you shouldn't need to disconnect it to cycle power or anything.

          That yes to the closed loop enable was there before I updated the 1HCL board to the latest firmware and now at power up it reports "no" to the close loop enable

          Righty I'm just looking over your config.g, it's been posted a few times, so let me just re-post here so that we're all looking at the same thing:

          G4 S3 ;wait for expansion boards to start
          M569.1 P50.0 S1 T2 C20 E20 R100 I0 D0 ; Configure the 1HCL board at CAN address 50 with a quadrature encoder on the motor shaft that has 20 steps per motor full step.
          M569.1 P51.0 S1 T2 C20 E20 R100 I0 D0 ; Configure the 1HCL board at CAN address 51 with a quadrature encoder on the motor shaft that has 20 steps per motor full step.
          M569 P50.0 D4 S1 ; Configure the motor on the 1HCL at can address 50 as being in closed-loop drive mode (D4), Open loop (D2) and not reversed (S1) X axis
          M569 P51.0 D2 S1 ; Configure the motor on the 1HCL at can address 51 as being in closed-loop drive mode (D4), Open loop (D2) and not reversed (S1) Y axis
          M569 P0.0 S1 ; physical drive 0.0 goes forwards Z 1-2 axis
          M569 P0.4 S1 ; physical drive 0.4 goes forwards Extruder
          M584 X50.0 Y51.0 Z0.0:0.1 E0.4 ; set drive mapping
          M671 X-122.25:689.20 Y0:0 S3.0 ; leadscrews at left (connected to Z0) and right (connected to Z1) of X axis
          M350 X32 Y32 Z32 E16 I1 ; configure microstepping with interpolation
          M92 X106.5 Y257 Z795.00 E339.00 ; set steps per mm
          M566 X900.00 Y900.00 Z60.00 E120.00 ; set maximum instantaneous speed changes (mm/min)
          M203 X6000.00 Y6000.00 Z180.00 E1200.00 ; set maximum speeds (mm/min)
          M201 X500.00 Y500.00 Z20.00 E250.00 ; set accelerations (mm/s^2)
          M906 X1000 Y3000 Z3000 E800 I30 ; set motor currents (mA) and motor idle factor in per cent
          M84 S30 ; Set idle timeout
          M917 X0 Y0 ; Set the closed loop axes to have a holding current of zero
          

          The first thing that jumps out is line 5:

          M569 P51.0 D2 S1 ; Configure the motor on the 1HCL at can address 51 as being in closed-loop drive mode (D4), Open loop (D2) and not reversed (S1) Y axis
          

          Your comment says it's closed loop, but the actual command is using D2, which is an open loop mode.
          However, your line above using P50.0 is correct, and that seems to be the driver you have been using, so I assume you are aware of this and this is all fine.

          It might be worth only having one closed loop board plugged in at a time whilst we're diagnosing this issue. Just to rule out issues like them accidentally sharing a CAN address or something like that.

          I suspect the problem here is line 2:

          M569.1 P50.0 S1 T2 C20 E20 R100 I0 D0
          

          This might be our fault - that particular command has gone through a number of changes, and it should have been updated in all the docs - except we seem to have missed this section! So if you've copy-pasted from that, this may be where our issues are coming from - I'll update that page now.
          The GCODE dictionary page for M569.1 is definitely correct though, so I'll re-write your M569.1 command from first principles:

          • Your motor driver is 50.0 - so P50.0
          • Your encoder is a quadrature on motor shaft - so T2
          • From googling your motor serial number, you have this motor? That page gives a 'resolution' of 1000. No units though, how helpful. I'll assume that's CPR. That motor is also 200 step/rev, so we do 1000 รท 200 = 5 - so C5
          • Sensible error thresholds are maybe 5 & 10 - so E5:10
          • We'll leave R,I,D as default so you don't need to include them for now

          Putting that all together:

          M569.1 P50.0 T2 C5 E5:10
          

          I suspect when your config.g file was running, it was erroring at your M569.1 command - so never getting to M569 to turn the 'no' to 'yes' in M122.

          It might be worth running M98 P"config.g" manually and seeing if any errors come back. Then, change your M569.1 command for my M569.1 command, run M98 P"config.g" and hopefully no errors will come back.
          Once that's done, turn it off and on again, and you should be good to go ๐Ÿ‘

          supertb1undefined 4 Replies Last reply Reply Quote 0
          • lirwin17undefined
            lirwin17 @T3P3Tony
            last edited by lirwin17

            @supertb1 @t3p3tony

            Edit: I got my .5 and .6s confused ๐Ÿคฆ I've corrected them now

            Yes, Tony is also right here:

            I think you are using M569.5 instead of M569.6
            What does sending
            M569.6 P50.0 V31
            Result in?

            The M569.5 command is for recording. This does let you pass in a manoeuvre (V parameter) to do. So running M569.5 as you describe would technically work to do a tuning move...
            However, you'll also be making a recording each time, so you'll quickly fill up your SD card with recordings. For this reason, unless you intend to do a recording, using M569.6 is preferable to do a tuning move.

            For anyone curious as to why there are 2 GCODE commands to do tuning moves, the rationale is that with HTTP delays etc, it is unlikely that you'd be able to send M569.5 and M569.6 quickly enough to record a tuning move. For that reason, M569.5 allows you to specify a tuning move that gets started just before the recording is started.

            MaxGyverundefined 1 Reply Last reply Reply Quote 0
            • supertb1undefined
              supertb1 @T3P3Tony
              last edited by

              @t3p3tony said in Duet3D 1HCL - Closed Loop Controller Beta test:

              M569.6 P50.0 V31

              9/21/2021, 7:00:28 AM M569.6 P50.0 V31
              Error: M569.6: Drive is not in closed loop mode.

              T3P3Tonyundefined 1 Reply Last reply Reply Quote 0
              • T3P3Tonyundefined
                T3P3Tony administrators @supertb1
                last edited by

                @supertb1 with M569 P50.0 D4 S1 first?

                www.duet3d.com

                supertb1undefined 1 Reply Last reply Reply Quote 0
                • supertb1undefined
                  supertb1 @lirwin17
                  last edited by

                  @lirwin17 said in Duet3D 1HCL - Closed Loop Controller Beta test:

                  M569.1 P50.0 T2 C5 E5:10

                  the motor has a 4000 pulse per rotation that I verified

                  1 Reply Last reply Reply Quote 0
                  • supertb1undefined
                    supertb1 @lirwin17
                    last edited by

                    @lirwin17 said in Duet3D 1HCL - Closed Loop Controller Beta test:

                    M98 P"config.g"

                    before change to P50.0
                    9/21/2021, 7:10:36 AM Error: Response timeout: CAN addr 51, req type 6045, RID=27
                    Pulse-type filament monitor on pin io5.in, enabled, sensitivity 7.000mm/pulse, allowed movement 55% to 150%, check every 22.0mm, no data received
                    Error: bad model parameters
                    9/21/2021, 7:10:35 AM Error: Response timeout: CAN addr 51, req type 6043, RID=25
                    9/21/2021, 7:10:34 AM Error: Response timeout: CAN addr 51, req type 6042, RID=23
                    9/21/2021, 7:10:33 AM Error: Response timeout: CAN addr 51, req type 6042, RID=21
                    9/21/2021, 7:10:32 AM Error: Response timeout: CAN addr 51, req type 6042, RID=19
                    9/21/2021, 7:10:31 AM Error: Response timeout: CAN addr 51, req type 6018, RID=17
                    9/21/2021, 7:10:30 AM Error: Response timeout: CAN addr 51, req type 6041, RID=15
                    Error: No encoder specified for closed loop drive mode
                    9/21/2021, 7:10:29 AM Error: Error threshold value must be greater than zero.

                    supertb1undefined 1 Reply Last reply Reply Quote 0
                    • supertb1undefined
                      supertb1 @supertb1
                      last edited by

                      @supertb1 I have P51.0 disconnected at the moment as advised

                      1 Reply Last reply Reply Quote 0
                      • MaxGyverundefined
                        MaxGyver @lirwin17
                        last edited by

                        Short update:

                        I am on my third print with the closed loop drivers and so far they are working quite well. The axes are sticking to their position very well. I really have to apply a lot of force to push them off course, and they will snap right back. ๐Ÿ‘

                        I am printing with up to 300mm/s and was able to increase my acceleration and jerk significantly. On the downside I had to limit my max. speeds to 20000mm/min or 300mm/s.

                        @lirwin17 I have two motors on my Y axis. They are both wired to one 1HCL board, but only one has an encoder. It calibrates fine, and I did not spot a significant problem during printing. Only the recorded graphs were of no use on this axis (at least for me). Maybe something to keep in mind for future development.(especially for autotuning. ๐Ÿ˜‰ )

                        Furthermore, I have the impression that the drivers run in full step without any microstepping as soon as I switch to closed loop. It sounds very much like my very first printer. ๐Ÿ˜ The prints also show a strong stepping pattern.

                        Cheers Max

                        lirwin17undefined supertb1undefined 2 Replies Last reply Reply Quote 0
                        • supertb1undefined
                          supertb1 @lirwin17
                          last edited by

                          @lirwin17
                          After change to P50.0
                          Error: Response timeout: CAN addr 51, req type 6045, RID=27
                          Pulse-type filament monitor on pin io5.in, enabled, sensitivity 7.000mm/pulse, allowed movement 55% to 150%, check every 22.0mm, no data received
                          Error: bad model parameters
                          9/21/2021, 7:14:52 AM Error: Response timeout: CAN addr 51, req type 6043, RID=25
                          9/21/2021, 7:14:51 AM Error: Response timeout: CAN addr 51, req type 6042, RID=23
                          9/21/2021, 7:14:50 AM Error: Response timeout: CAN addr 51, req type 6042, RID=21
                          9/21/2021, 7:14:49 AM Error: Response timeout: CAN addr 51, req type 6042, RID=19
                          9/21/2021, 7:14:48 AM Error: Response timeout: CAN addr 51, req type 6018, RID=17
                          9/21/2021, 7:14:47 AM Error: Response timeout: CAN addr 51, req type 6041, RID=15
                          9/21/2021, 7:14:43 AM M98 P"config.g"
                          HTTP is enabled on port 80
                          FTP is disabled
                          TELNET is disabled
                          Again channel 51 is disconnected

                          1 Reply Last reply Reply Quote 0
                          • supertb1undefined
                            supertb1 @T3P3Tony
                            last edited by

                            @t3p3tony
                            G4 S3 ;wait for expansion boards to start
                            M569.1 P50.0 T2 C5 E5:10 ; Configure the 1HCL board at CAN address 50 with a quadrature encoder on the motor shaft that has 20 steps per motor full step.
                            M569.M51 P51.0 S1 T2 C20 E20 R100 I0 D0 ; Configure the 1HCL board at CAN address 51 with a quadrature encoder on the motor shaft that has 20 steps per motor full step.
                            M569 P50.0 D4 S1 ; Configure the motor on the 1HCL at can address 50 as being in closed-loop drive mode (D4), Open loop (D2) and not reversed (S1) X axis
                            M569 P51.0 D2 S1 ; Configure the motor on the 1HCL at can address 51 as being in closed-loop drive mode (D4), Open loop (D2) and not reversed (S1) Y axis
                            M569 P0.0 S1 ; physical drive 0.0 goes forwards Z 1-2 axis

                            T3P3Tonyundefined 1 Reply Last reply Reply Quote 0
                            • T3P3Tonyundefined
                              T3P3Tony administrators @supertb1
                              last edited by

                              @supertb1 sorry I should have been clearer. After start up send the following from the console:

                              M569 P50.0 D4 S1
                              M569.6 P50.0 V31
                              

                              www.duet3d.com

                              supertb1undefined 2 Replies Last reply Reply Quote 0
                              • supertb1undefined
                                supertb1 @lirwin17
                                last edited by

                                @lirwin17
                                since the change on the M569.1 line to P50.0 T2 C5 E5:10
                                I am now getting closed loop enabled : yes
                                on P50 V8 it is saying that the drive has an incorrect polarity
                                V32 made the drive run off to the end of it's travel
                                M569.6 P50.0 V64
                                Warning: No new tuning errors have been found, but some existing tuning errors exist. The drive has not been zeroed. The drive has not had it's polarity checked. The drive has not had it's control checked. The encoder has not had it's count per revolution and V128 is the same result

                                1 Reply Last reply Reply Quote 0
                                • supertb1undefined
                                  supertb1 @T3P3Tony
                                  last edited by

                                  @t3p3tony said in Duet3D 1HCL - Closed Loop Controller Beta test:

                                  M569.6 P50.0 V31

                                  M569.6 P50.0 V31
                                  Warning: M569.6: One or more tuning errors occurred. The drive has been found to have an incorrect polarity.

                                  1 Reply Last reply Reply Quote 0
                                  • supertb1undefined
                                    supertb1 @T3P3Tony
                                    last edited by

                                    @t3p3tony does this mean that I need to switch the positive and negative wires?

                                    T3P3Tonyundefined 1 Reply Last reply Reply Quote 0
                                    • T3P3Tonyundefined
                                      T3P3Tony administrators @supertb1
                                      last edited by T3P3Tony

                                      @supertb1 try the following:

                                      M569 P50.0 D4 S0

                                      Sorry that was wrong. I forgot you have the motor moving the correct way in open loop mode.

                                      @lirwin17 is the polarity error an encoder polarity? in which case switching A and B phases of the encoder would be right?

                                      www.duet3d.com

                                      1 Reply Last reply Reply Quote 0
                                      • lirwin17undefined
                                        lirwin17
                                        last edited by

                                        @supertb1

                                        does this mean that I need to switch the positive and negative wires?

                                        Sorry, this error message is a bit misleading - I'll change that. The polarity should be detected automatically, so a better error message may be "encoder polarity failed to be detected"

                                        Please could you follow the same instructions I gave to maxgyver above (here), although on the 'movement' checkboxes down the right hand side, please could you check 'polarity detection'

                                        We should then be able to take a look at the graph and see what's going on ๐Ÿ™‚

                                        supertb1undefined 4 Replies Last reply Reply Quote 0
                                        • supertb1undefined
                                          supertb1 @lirwin17
                                          last edited by

                                          @lirwin17 50_2021-09-21_15.04.43.csv

                                          lirwin17undefined 1 Reply Last reply Reply Quote 0
                                          • supertb1undefined
                                            supertb1 @lirwin17
                                            last edited by

                                            @lirwin17 is there another report with different variables I need to run for more information?

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