Duet 3 getting stuck during macros

Glen_Remix

trigger7.g trigger6.g trigger5.g trigger4.g trigger3.g config.g Hi all,

I'm using a Duet 3 6XD to motion control a delta robot as part of a larger system. The duet receives input triggers from a PLC to run macros. The macros are a couple of lines of movements, along with a "busy bit" which is high for the duration of the macro, and a "done bit" which is on for half a second at the end of the macro to signal to the PLC that the move is complete.

I'm having an issue in that the duets seem to randomly get stuck during this routine. They stop responding to inputs, and when I connect via DWC, I am unable to interact with the duet without sending M999 to reset the board. I then need to home the robot, and send M582 to check the trigger status.

I have attached my config and macro files.

Any ideas as to what I can look into to resolve this problem would be greatly appreciated.

Thanks,
Glen
config.g
trigger7.g trigger6.g trigger5.g trigger4.g trigger3.g

Glen_Remix

Some further info:

This time the delta seems to have frozen at its top, hard against its endstops, as if its homing but hasn't triggered the switches.

It also makes this jittering noise that you can hear in the video below.

https://photos.app.goo.gl/cEgmyTqrEsWX6Vpn6

The motors are attached to 1HCL boards, but are in open-loop mode.

The board status is idle.

To rectify this, I have to send M999 then home all.

chrishamm

@Glen_Remix What firmware version are you using?

dc42

@Glen_Remix try sending M122 when it gets stuck and post the result here.

When using more than one trigger as youvare doing, you should allow for the fact that only one trigger can execute at a time, except for trigger 0 (emergency stop) which can interrupt the macro for another trigger.

Glen_Remix

@chrishamm
RepRapFirmware for Duet 3 MB6XD version 3.4.2rc1 (2022-07-06 16:23:35) running on Duet 3 MB6XD v1.0 or later (standalone mode)

chrishamm

@Glen_Remix Please upgrade to v3.4.5 and try again. If the problem persists, share the output of M122 when it gets stuck.

Glen_Remix

@dc42 said in Duet 3 getting stuck during macros:

@Glen_Remix try sending M122 when it gets stuck and post the result here.

When using more than one trigger as youvare doing, you should allow for the fact that only one trigger can execute at a time, except for trigger 0 (emergency stop) which can interrupt the macro for another trigger.

We're running a load of tests today, I will upload the M122 result when it comes up.

The PLC side of the code is meant to wait until the "done" bit is received until it sends any more triggers, but I can double-check with our control engineer if that's definitely true.

Is there any M400 equivalent for macros? I've added M99 to the end of each macro so that it's definitely ended before it starts a new one, but that doesn't seem to have helped.

Glen_Remix

So I got the error just now. Attached are the M122 outputs of both the 6XD mainboard and one of the 1HCL toolboards.

Thanks for your help,
Glen

M122 B6XD.txt
M122 1HCL.txt

Glen_Remix

@Glen_Remix the 1HLC looks like it might have an under-voltage error which might be causing this?

Is there anything else that jumps out in the log as maybe a clue?

dc42

@Glen_Remix both M122 reports show the last reset as being less then 2 minutes before you ran the M122 with reason "power up". So it looks as though there is a problem with your PSU, the wires from the PSU, or the mains supply.