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    Duet3D 1HCL - Closed Loop Controller Beta test

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    • lirwin17undefined
      lirwin17 @T3P3Tony
      last edited by lirwin17

      @supertb1 @t3p3tony

      Edit: I got my .5 and .6s confused 🤦 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. 👏

                  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. 😉 )

                  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. 😁 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 🙂

                                  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?

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

                                        @lirwin17 50_2021-09-21_15.57.09.csv

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

                                          @lirwin17 I'm not sure how to read these... it looks like coil A is out of step phase and coil B doesn't appear to be doing anything... target motor steps says there are 4 errors

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                                          • lirwin17undefined
                                            lirwin17 @supertb1
                                            last edited by lirwin17

                                            @supertb1

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

                                            No, this is great 👍

                                            I'm not sure how to read these...

                                            There's docs coming soon, but for now I'll talk you through it

                                            The first thing to say is that the raw encoder reading is 0 on both recordings - this means it doesn't seem to register the encoder as moving at all.
                                            This is strange because I thought that you did M122 twice after manually turning a full rotation and the encoder's reading changed... Please could you confirm this is still the case
                                            (See this post for more detailed information)
                                            95f3e05a-299f-478b-85c8-b2217e7fea0a-image.png

                                            supertb1undefined 3 Replies Last reply Reply Quote 0
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