How to send orders to an servo-driver from Duet?

dc42

@Julien30 said in How to send orders to an servo-driver from Duet?:

When I send all of this command, I also test the DIR PIN with multimeter but as before the voltage stay at 4,4V.

Are you quite certain that it isn't changing between +4.4V and -4.4V?

Julien30

@dc42
Yes I am, it does not change positiv to negativ or inverse

dc42

@Julien30 you can send e.g. M122 B40 to get a diagnostic report for the board with CAN address 40. Included in this report will be "Driver 0: position ...". Does the reported position change after you send a movement command?

Which firmware versions are you using, on the main board and on the EXP1XD boards?

Julien30

@dc42 when I send M122 B40 it say:
"
M122 B40
Warning: Discarded std reply src=40 RID=4094 exp=18 ""
Warning: Discarded std reply src=41 RID=4094 exp=18 ""
Error: M122: Board 40 received unknown msg type 51

"
The firmware version for the Main board:
Duet 3 MB6HC v1.01
Version: 3.4.5

The firmware version for 1XD:

Version 3.2beta3

dc42

@Julien30 the problem is that the firmware on the 1XD boards (3.2beta) is too old to work with firmware 3.4.5 on the main board. So you need to upgrade the firmware on the 1XD boards, which you can do by uploading the Duet3Firmware_EXP1XD.bin file from the 3.4.4 or 3.4.5 release through DWC.

Julien30

@dc42 Thank you.
I upgrade the firware as you suggest. So now, when I send the M122 B40 to get a diagnostic report, then send a movement command and send an other M122 B40, I can see the report position change as it was expected earlier .
I also see the voltage with multimeter at pin DIR+ and DIR- change from +4,4 to -4,4 and inverse.
But saddly my motor don't move a flinch.

dc42

@Julien30 that's progress. I suggest you send M569 P40.0 and check that the response shows similar timings to the ones you specified in config.g.

The voltage between STEP+ and STEP- should normally be about -4.4V. It will change to +4.4V when a step pulse is sent, but you probably won't be able to see any change on your multimeter because the step pulse is short (you have configured 5us pulse length, which should be more than enough).

Do your drivers require any other input to enable them?

Julien30

@dc42
The parameters in config.g is:

M569 P40.0 S1 R1 T5:5:10:10
When I send M569 P40.0, I received:
Driver 40.0 runs forwards, active high enable, step timing 5.0:5.7:10.7:11.0us
It look pretty close.

@dc42 said in How to send orders to an servo-driver from Duet?:

Do your drivers require any other input to enable them?

I don't really know. At first I began with only the stock wire send with the driver. It was managed to include the pin PV, the pin PD- and the pin PP-.
Maybe if I reconnect as it was at first, It will run. No?

alankilian

@Julien30 Do you have a signal going in to the SRV-ON input?

The document you provided shows a 24 Volt DC power supply and a switch connected to the SRV-ON input.

Page 47 says that using the default configuration that the servo will not operate without that signal. You can update that parameter to set it to a "1" so that the servo is always enabled.

Julien30

Hi @alankilian
I don't see some 24V DC or switch connected to SRV-ON input (maybe I don't look at the proper place...)
But I have made the configuration of the Pn003 to 1 for set it as "always enabled".