Problem with stealthChop2 driver mode in cartesian 3D printer

ale.fdezsuarez

Hello, greetings to all. I have a few questions about how to configure the stealthChop2 mode on my custom 3D printer with Duet3 control board and TMC2160 drivers.

As a summary the printer has X, Y, Z, E axes and an additional axis called V.

In the X, Y, V axes the drive system is a ball screw with 5 mm pitch. On the Z axis the drive system is a TR3 trapezoidal leadscrew. All motors used are 200 pulses per revolution.

; Drivers
M569 P0.0 S1 D3 H10 V10                               ; physical drive 0.0 goes forwards - Eje X
M569 P0.1 S0 D3 H10 V10                               ; physical drive 0.1 goes backwards - Eje Y
M569 P0.2 S0 D3 H10 V10                               ; physical drive 0.2 goes backwards - Eje Z
M569 P0.5 S1 H10 V10                                  ; physical drive 0.5 goes backwards - Eje V
M569 P0.3 S0                                          ; physical drive 0.3 goes backwards - Eje E
M584 X0.0 Y0.1 Z0.2 E0.3 V0.5                         ; set drive mapping
M350 X16 Y16 Z16 E16 V16 I1                           ; configure microstepping with interpolation
M92 X640 Y640.00 Z1066.67 E492.45 V640.00             ; set steps per mm
M566 X450.00 Y150.00 Z150.00 E60.00 V150.00           ; set maximum instantaneous speed changes (mm/min)
M203 X3000.00 Y2000.00 Z500.00 E1000.00 V2000.00      ; set maximum speeds (mm/min)
M201 X800.00 Y800.00 Z20.00 E250.00 V800.00           ; set accelerations (mm/s^2)
M906 X1800 Y1800 Z1500 E1200 I30 V1800                ; set motor currents (mA) and motor idle factor in per cent
M84 S10                                               ; Set idle timeout

With this configuration if I run the M569 P0.0 (valid for X, Y, V axis) parameter I obtain the following output in the console:

Drive 0 runs forwards, active low enable, timing fast, mode stealthChop, ccr 0x08053, toff 3, tblank 1, thigh 10 (117.2 mm/sec), tpwmthrs 10 (117.2 mm/sec), pwmScaleSum 19, pwmScaleAuto 0, pwmOfsAuto 29, pwmGradAuto 0, pos 8

And if I use the M569 P0.2 (valid for Z axis) the output is:

Drive 2 runs in reverse, active low enable, timing fast, mode stealthChop, ccr 0x08053, toff 3, tblank 1, thigh 10 (70.3 mm/sec), tpwmthrs 10 (70.3 mm/sec), pwmScaleSum 19, pwmScaleAuto 0, pwmOfsAuto 29, pwmGradAuto 0, pos 8

So, as far as I understand it, if the operating speed is below the speed set by tpwmthrs, it would be operating in stealthChop2 mode and therefore the system would have to operate in silent mode.

The problem is that even though everything seems to be OK, the motors are still very noisy despite the fact that the operating speed is always below the maximum values.

Additionally, if I use the M915 PX T10 for the different drivers I can see that the motors are having trouble moving properly.

T3P3Tony

@ale-fdezsuarez whats the difference in the noise when running in stealthchop and spreadcycle? probably worth isolating 1 axis (say X) and checking/tuning that and then moving on to the other axes.

ale.fdezsuarez

@T3P3Tony And how can I test the parameters, just try and error until I get the right noise level?
Thanks

moth4017

@ale-fdezsuarez As a quick check try D2 instead of D3 in M569

dc42

@ale-fdezsuarez another consideration for quiet operation is that the back emf of the motor at the commanded speed is below the VIN voltage.