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    Problem with calibration of encoders

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    Duet Hardware and wiring
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    • Kirylundefined
      Kiryl @dc42
      last edited by

      @dc42 Can you please explain to me how to update the firmware if I am using the 6HC main board in SBC mode? I understand that it should be easy, but I can't find a good explanation on the internet.

      jay_s_ukundefined 1 Reply Last reply Reply Quote 0
      • jay_s_ukundefined
        jay_s_uk @Kiryl
        last edited by

        @Kiryl M997 B61

        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

        Kirylundefined 1 Reply Last reply Reply Quote 0
        • Kirylundefined
          Kiryl @dc42
          last edited by Kiryl

          @dc42 I used M997 B61 command, and now the output is:

          M122 B61
          Diagnostics for board 61:
          Duet EXP1HCL firmware version 3.4.1 (2022-06-01 21:14:32)
          Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
          All averaging filters OK
          Never used RAM 52256, free system stack 169 words
          Tasks: Move(notifyWait,0.0%,108) HEAT(notifyWait,0.0%,88) CanAsync(notifyWait,0.0%,66) CanRecv(notifyWait,0.0%,79) CanClock(notifyWait,0.0%,72) TMC(notifyWait,35.1%,360) CLSend(notifyWait,0.0%,152) MAIN(running,62.8%,399) IDLE(ready,0.0%,30) AIN(notifyWait,2.0%,265), total 100.0%
          Last reset 00:00:34 ago, cause: software
          Last software reset data not available
          Closed loop enabled: yes, pre-error threshold: 0.00, error threshold: 0.00, encoder type rotaryQuadrature, reverse polarity: no, position 21, raw count = 65532, tuning mode: 0, tuning error: 0x4, collecting data: no
          Control loop runtime (ms): min=0.004, max=0.017, frequency (Hz): min=10870, max=17045
          Driver 0: pos -328000, 1600.0 steps/mm,tuning failed, SG min 0, mspos 76, reads 25212, writes 1072 timeouts 0, steps req 424000 done 136004
          Moves scheduled 5, completed 5, in progress 0, hiccups 0, step errors 0, maxPrep 64, maxOverdue 0, maxInc 0, mcErrs 0, gcmErrs 0
          Peak sync jitter -5/5, peak Rx sync delay 192, resyncs 0/0, no step interrupt scheduled
          VIN voltage: min 23.9, current 24.1, max 24.3
          V12 voltage: min 12.2, current 12.2, max 12.2
          MCU temperature: min 33.1C, current 33.8C, max 33.8C
          Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
          CAN messages queued 326, send timeouts 0, received 207, lost 0, free buffers 37, min 37, error reg 0
          dup 0, oos 0/0/0/0, bm 0, wbm 0, rxMotionDelay 295, adv 37076/37196

          It looks like the firmware is only updated to version 3.4.1.

          End encoders still do not work

          1 Reply Last reply Reply Quote 0
          • Kirylundefined
            Kiryl @jay_s_uk
            last edited by

            @jay_s_uk I used M997 B61 command, and 1HCL updated only to 3.4.1 version. is there are any other ways to update to 3.4.4?

            jay_s_ukundefined 1 Reply Last reply Reply Quote 0
            • jay_s_ukundefined
              jay_s_uk @Kiryl
              last edited by

              @Kiryl how did you update the setup to 3.4.4 originally? did you use sudo apt update etc to update through the SBC?
              Can you post an output of M122?

              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

              Kirylundefined 1 Reply Last reply Reply Quote 0
              • Kirylundefined
                Kiryl @jay_s_uk
                last edited by

                @jay_s_uk I never used sudo apt update, M997 worked fine.
                And here is a reprieve from M122

                M122
                === Diagnostics ===
                RepRapFirmware for Duet 3 MB6HC version 3.4.4 (2022-10-20 16:19:01) running on Duet 3 MB6HC v1.01 (SBC mode)
                Board ID: 0JD2M-999AL-D2PS0-6JTDA-3SD6J-1NJ30
                Used output buffers: 1 of 40 (12 max)
                === RTOS ===
                Static ram: 152824
                Dynamic ram: 66272 of which 76 recycled
                Never used RAM 131428, free system stack 154 words
                Tasks: SBC(ready,0.6%,466) HEAT(notifyWait,0.0%,374) Move(notifyWait,0.0%,256) CanReceiv(notifyWait,0.0%,773) CanSender(notifyWait,0.0%,335) CanClock(delaying,0.0%,340) TMC(notifyWait,7.8%,91) MAIN(running,90.8%,1257) IDLE(ready,0.8%,30), total 100.0%
                Owned mutexes: HTTP(MAIN)
                === Platform ===
                Last reset 00:01:08 ago, cause: power up
                Last software reset at 2022-09-18 06:19, reason: User, GCodes spinning, available RAM 131212, slot 0
                Software reset code 0x0003 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x00400000 BFAR 0x00000000 SP 0x00000000 Task SBC Freestk 0 n/a
                Error status: 0x00
                Step timer max interval 132
                MCU temperature: min 22.7, current 31.8, max 31.9
                Supply voltage: min 23.7, current 23.9, max 24.1, under voltage events: 0, over voltage events: 0, power good: yes
                12V rail voltage: min 12.2, current 12.2, max 12.2, under voltage events: 0
                Heap OK, handles allocated/used 0/0, heap memory allocated/used/recyclable 0/0/0, gc cycles 0
                Events: 1 queued, 1 completed
                Driver 0: standstill, SG min 0, mspos 8, reads 54074, writes 11 timeouts 0
                Driver 1: standstill, SG min 0, mspos 8, reads 54075, writes 11 timeouts 0
                Driver 2: standstill, SG min 0, mspos 8, reads 54075, writes 11 timeouts 0
                Driver 3: standstill, SG min 0, mspos 8, reads 54075, writes 11 timeouts 0
                Driver 4: standstill, SG min 0, mspos 8, reads 54075, writes 11 timeouts 0
                Driver 5: standstill, SG min 0, mspos 8, reads 54075, writes 11 timeouts 0
                Date/time: 2022-09-18 06:17:58
                Slowest loop: 34.06ms; fastest: 0.03ms
                === Storage ===
                Free file entries: 10
                SD card 0 not detected, interface speed: 37.5MBytes/sec
                SD card longest read time 0.0ms, write time 0.0ms, max retries 0
                === Move ===
                DMs created 125, segments created 3, maxWait 34885ms, bed compensation in use: none, comp offset 0.000
                === MainDDARing ===
                Scheduled moves 15, completed 15, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
                === AuxDDARing ===
                Scheduled moves 0, completed 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
                === Heat ===
                Bed heaters -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1, chamber heaters -1 -1 -1 -1, ordering errs 0
                === GCodes ===
                Segments left: 0
                Movement lock held by null
                HTTP* is doing "M122" in state(s) 0
                Telnet is idle in state(s) 0
                File is idle in state(s) 0
                USB is idle in state(s) 0
                Aux is idle in state(s) 0
                Trigger* is idle in state(s) 0
                Queue is idle in state(s) 0
                LCD is idle in state(s) 0
                SBC is idle in state(s) 0
                Daemon is idle in state(s) 0
                Aux2 is idle in state(s) 0
                Autopause is idle in state(s) 0
                Code queue is empty
                === CAN ===
                Messages queued 434, received 2273, lost 0, boc 0
                Longest wait 7ms for reply type 6018, peak Tx sync delay 7, free buffers 50 (min 48), ts 343/342/0
                Tx timeouts 0,0,0,0,0,0
                === SBC interface ===
                Transfer state: 5, failed transfers: 0, checksum errors: 0
                RX/TX seq numbers: 2615/2615
                SPI underruns 0, overruns 0
                State: 5, disconnects: 0, timeouts: 0 total, 0 by SBC, IAP RAM available 0x2ad08
                Buffer RX/TX: 0/0-0, open files: 0
                === Duet Control Server ===
                Duet Control Server v3.4.1
                Code buffer space: 4096
                Configured SPI speed: 8000000Hz, TfrRdy pin glitches: 0
                Full transfers per second: 50.79, max time between full transfers: 41.8ms, max pin wait times: 45.0ms/15.8ms
                Codes per second: 1.46
                Maximum length of RX/TX data transfers: 3044/1008

                jay_s_ukundefined 1 Reply Last reply Reply Quote 0
                • jay_s_ukundefined
                  jay_s_uk @Kiryl
                  last edited by

                  @Kiryl said in Problem with calibration of encoders:

                  Duet Control Server v3.4.1

                  then you've updated your system incorrectly
                  for SBC mode, you should SSH into the pi and use sudo apt update && sudo apt upgrade -y
                  you shouldn't be uploading firmware files and doing it that way

                  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

                  Kirylundefined 1 Reply Last reply Reply Quote 1
                  • Kirylundefined
                    Kiryl @jay_s_uk
                    last edited by

                    @jay_s_uk Hello, I was able to update the system to version 3.4.4, here are the results of the M122 command:

                    M122 B61
                    Diagnostics for board 61:
                    Duet EXP1HCL firmware version 3.4.4 (2022-10-14 11:45:14)
                    Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
                    All averaging filters OK
                    Never used RAM 52256, free system stack 163 words
                    Tasks: Move(notifyWait,0.0%,108) HEAT(notifyWait,0.0%,88) CanAsync(notifyWait,0.0%,66) CanRecv(notifyWait,0.0%,79) CanClock(notifyWait,0.0%,70) TMC(notifyWait,36.1%,360) CLSend(notifyWait,0.0%,152) MAIN(running,61.9%,409) IDLE(ready,0.0%,30) AIN(notifyWait,2.0%,265), total 100.0%
                    Last reset 00:06:04 ago, cause: software
                    Last software reset data not available
                    Closed loop enabled: yes, pre-error threshold: 0.00, error threshold: 0.00, encoder type rotaryQuadrature, reverse polarity: no, position -25137, raw count = 40539, tuning mode: 0, tuning error: 0x4, collecting data: no
                    Control loop runtime (ms): min=0.003, max=0.029, frequency (Hz): min=10000, max=17442
                    Driver 0: pos 1171200, 1600.0 steps/mm,tuning failed, SG min 0, mspos 828, reads 14455, writes 3168 timeouts 0, steps req 1804800 done 881639
                    Moves scheduled 15, completed 15, in progress 0, hiccups 0, step errors 0, maxPrep 62, maxOverdue 0, maxInc 0, mcErrs 0, gcmErrs 0
                    Peak sync jitter -5/8, peak Rx sync delay 194, resyncs 0/0, no step interrupt scheduled
                    VIN voltage: min 24.0, current 24.1, max 24.3
                    V12 voltage: min 12.2, current 12.2, max 12.2
                    MCU temperature: min 29.6C, current 36.1C, max 36.1C
                    Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 0
                    CAN messages queued 3002, send timeouts 0, received 1896, lost 0, free buffers 37, min 37, error reg 0
                    dup 0, oos 0/0/0/0, bm 0, wbm 0, rxMotionDelay 302, adv 37072/37189

                    But the problem is still the same, the encoder is not calibrated on the axis where the driver is at address 61. When Ireplace it with any other driver, it calibrates without any problems.

                    jay_s_ukundefined 1 Reply Last reply Reply Quote 0
                    • jay_s_ukundefined
                      jay_s_uk @Kiryl
                      last edited by

                      @Kiryl so replacing the 1HLC with another 1HLC, the same motor calibrates ok?

                      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

                      Kirylundefined 1 Reply Last reply Reply Quote 0
                      • Kirylundefined
                        Kiryl @jay_s_uk
                        last edited by

                        @jay_s_uk Yes

                        jay_s_ukundefined 1 Reply Last reply Reply Quote 0
                        • jay_s_ukundefined
                          jay_s_uk @Kiryl
                          last edited by

                          @Kiryl one for @Phaedrux or @dc42

                          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

                          Kirylundefined 1 Reply Last reply Reply Quote 0
                          • Kirylundefined
                            Kiryl @jay_s_uk
                            last edited by

                            @jay_s_uk Does that mean I have to write to them or just wait for them to respond?

                            jay_s_ukundefined dc42undefined 2 Replies Last reply Reply Quote 0
                            • jay_s_ukundefined
                              jay_s_uk @Kiryl
                              last edited by

                              @Kiryl wait for them to respond

                              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

                              1 Reply Last reply Reply Quote 0
                              • dc42undefined
                                dc42 administrators @Kiryl
                                last edited by

                                @Kiryl I am sorry that your EXP1HCL board appears to have a problem reading the encoder. Please send a short email to warranty@duet3d.com and include a link to this thread. You will receive a reply with a link to a form to fill in.

                                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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