Loud motor whining on 1HCL v0.3 boards with 3.4 rc1
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I am having trouble with my pre-production closed loop boards after updating to 3.4 rc1.
I update over the unstable package feed and installed the v0.3 binaries for the pre-production boards manually. After rebooting, I got can timeouts from all 1HCL boards. A power cycle has resolved the issue.By allowing the movement of unhomed axis (M564 H0) the axis can moved in open loop mode. But as soon as the axis hits the end stop the motor starts whining very loudly. In addition, the motor does not appear to receive much current, since it can be easily moved manually with close to no resistance. The axis endstop is connected to the 1HCL Board.
This is my motor configuration
M569.1 P50.0 T2 C20 R100 I0 D0-Max
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@maxgyver this has now been fixed. Please try the new expansion board firmware at https://www.dropbox.com/sh/2dt7sbqpx6l74np/AADn4-lpcil1iqnWKkiVri3Ia?dl=0.
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@maxgyver please clarify what the problems are:
- Are you saying that the endstop is not recognised as triggering and the motor continues to turn?
- Did you upload the EXP1HCLv0_3.bin file and then rename it to EXP1HCL.bin, before using M997 B# to install it?
- What does M115 B# (where # is the CAN address of the board) return?
- What working firmware version were you using previously?
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 -
@dc42 said in Loud motor whining on 1HCL v0.3 boards with 3.4 rc1:
Are you saying that the endstop is not recognised as triggering and the motor continues to turn?
No, The endstops are recognised, and the motor stops turning when the endstop is hit. But it also loses its holding torque and starts whining very loud.
Did you upload the EXP1HCLv0_3.bin file and then rename it to EXP1HCL.bin, before using M997 B# to install it?
I updated all boards via the unstable package feed, so I recon the final version of the 1HCL firmware was installed on the boards first. So I downloaded the EXP1HCLv0_3.bin renamed it to EXP1HCL.bin before uploading and installing.
What does M115 B# (where # is the CAN address of the board) return?
"Duet EXP1HCL firmware version 3.4.0rc1"
What working firmware version were you using previously?
Firmware version 3.3_b7
Thank you!
MaxEDIT: Downgrading to 3.3 b7 resolves the issue!
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@maxgyver if you are running it in closed loop mode then you need to change the PID constants in firmware 3.4 because the PID algorithm has changed since version 3.3. High P and D values are more likely to cause oscillation than before. Value of P in the range 50 to 200 and D in the range 0.05 to 0.2 seem to be about right for typical motors. With the I term zero, tune P and D to get fast rise time and low overshoot in the closed loop plugin. Then you can add the I term to remove or reduce the constant error. I currently use these values: P200 I50000 D0.9,
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@dc42
The noise appears in open loop mode. So far, I did not test closed loop mode since I cannot even get the axis to home. I tested your PID values with the same result. I have confirmed the issue with another motor connected to the expansion board. As soon as I trigger the end stop, the motor starts screaming like hell.my X-Axis homing file looks like this:
; Home X M569 P50.0 S0 D0 ; open-loop mode G91 ; relative positioning G1 H1 X-420 F8000 ; coarse home X G1 H0 X+5 ; go back a few mm G1 H1 X-10 F600 ; fine home X G90 ; absolute positioningEDIT: here is a short video. link
-Max
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I received my v1.0 boards, and they are causing the same loud motor whine. I tried RRF 3.3 beta 7+8 and RRF 3.4 rc1. Lowering the homing speed did not solve it.
here my motor configuration
; Kinematics M669 K11 Y1:1:0:-1 ; Matrix mapping for Axis - X:Y:Z:U ; Motors M569 P0.0 S0 ; Drive 0.0/Z1 motor (rear left) M569 P0.1 S1 ; Drive 0.1/Z2 motor (rear right) M569 P0.2 S1 ; Drive 0.2/Z3 motor (front right) M569 P0.3 S0 ; Drive 0.3/Z4 motor (front left) M569 P0.4 S1 ; Drive 0.4/E1 motor M569 P0.5 S0 ; Drive 0.5/E2 motor M569 P1.0 S1 ; Drive 2.1/A M569 P1.1 S1 ; Drive 2.2/B M569 P1.2 S1 ; Drive 2.3/C M569 P50.0 S1 ; Y1-Motor M569 P51.0 S0 ; X-Motor M569 P52.0 S0 ; U-Motor M569 P53.0 S0 ; Y2-Motor M569.1 P50.0 T2 C20 R100 I0 D0 H100 ; 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 T2 C20 R100 I0 D0 H100 ; Configure the 1HCL board at CAN address 51 with a quadrature encoder on the motor shaft that has 20 steps per motor full step. M569.1 P52.0 T2 C20 R100 I0 D0 H100 ; Configure the 1HCL board at CAN address 52 with a quadrature encoder on the motor shaft that has 20 steps per motor full step. M569.1 P53.0 T2 C20 R100 I0 D0 H100 ; Configure the 1HCL board at CAN address 52 with a quadrature encoder on the motor shaft that has 20 steps per motor full step. ; Motion System M584 Z0.0:0.1:0.2:0.3 X51.0 U52.0 Y50.0:53.0 E0.4:0.5 A1.0 B1.1 ; set 4 Z drivers and add one U driver M671 X-38.5:499:499:-38.5 Y341:341:-10:-10 S10 ; lead screw positions M350 U16 X16 Y16 Z16 E16:16 A4 B4 I1 ; Configure microstepping with interpolation M92 U80 X80 Y80 Z640 E400:400 A10 B10 ; Set steps per mm M203 U36000 X36000 Y36000 Z2400 E9000:9000 A40000 B40000 ; Set maximum speeds (mm/min) M566 U600 X600 Y600 Z200 E3000:3000 A0 B0 ; set maximum instantaneous speed changes (mm/min) M201 U6000 X6000 Y6000 Z200 E6000:6000 A6000 B6000 ; Set maximum accelerations (mm/s^2) M906 U2500 X2500 Y4000 Z1250 E750:750 A300 B300 I50 ; Set motor currents (mA) and motor idle factor in per cent M84 S5 ; Set idle timeout M917 X100 U100 Y100 Z50 ; Set holding current in percent -
@maxgyver thanks. This is on my list to look at.
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undefined MaxGyver marked this topic as a question
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@maxgyver this has now been fixed. Please try the new expansion board firmware at https://www.dropbox.com/sh/2dt7sbqpx6l74np/AADn4-lpcil1iqnWKkiVri3Ia?dl=0.
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@dc42 The update has resolved the issue. Thank you very much!
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undefined MaxGyver has marked this topic as solved
