Teknic motor not hitting max rpm
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I've got a Teknic CPM-SDHP-2326P-ELN servo on my X-axis and I'm only getting a max of ~1780rpm. The motor is capable of 6000rpm and I can run it at that speed in the Teknic MSP software, so the issue must be with my config file settings.
; Configuration file for Duet 3 MB 6XD (firmware version 3.4.1) ; executed by the firmware on start-up ; ; generated by RepRapFirmware Configuration Tool v3.3.15 on Fri Dec 09 2022 12:10:26 GMT-0600 (Central Standard Time) ; General preferences M575 P1 S1 B57600 ; enable support for PanelDue G90 ; send absolute coordinates... M83 ; ...but relative extruder moves M550 P"My Printer" ; set printer name ; Wait a moment for the CAN expansion boards to start G4 S2 ; Network M552 P0.0.0.0 S1 ; enable network and acquire dynamic address via DHCP M586 P0 S1 ; enable HTTP M586 P1 S0 ; disable FTP M586 P2 S0 ; disable Telnet ; Drive Setup M18 ; disable steppers to disable old axes config ; Drive setup ; TX:X:X:X Min stp pls width, stp ple interval, dir setup time, dir hold time, in microseconds M569 P121.0 S1 R1 T1:2:1:1 ; physical drive X M569 P0.0 S1 R1 T1:2:1:1 ; physical drive Y1 M569 P0.1 S1 R1 T1:2:1:1 ; physical drive Y2 M569 P0.2 S0 R1 T1:2:1:1 ; physical drive Z1 M569 P0.3 S0 R1 T1:2:1:1 ; physical drive Z2 M569 P0.4 S0 R1 T1:2:1:1 ; physical drive Z3 M569 P0.5 S0 R1 T1:2:1:1 ; physical drive Z4 M569 P123.0 S0 R0 ; physical drive E0 Primary Extruder M569 P3.1 S1 R1 ; physical drive E1 Mosquito 1 extruder M569 P3.2 S1 R1 ; physical drive E2 Mosquito 2 extruder M569 P4.0 S0 R1 ; physical drive actuator 1 M569 P4.1 S1 R1 ; physical drive actuator 2 M569 P1.0 S1 R1 ; physical drive garage door G4 S1 ; wait for drive to setup ; Drive mapping M584 X121.0 ; set drive mapping for x axis M584 Y0.0:0.1 ; set drive mapping for y axis M584 Z0.2:0.3:0.4:0.5 ; set drive mapping for z axes M584 E123.0:3.1:3.2 ; set drive mapping for extruder axes M584 U4.0 ; set drive mapping for mosquito actuator 1 M584 V4.1 ; set drive mapping for mosquito actuator 2 M584 W1.0 ; set drive mapping for garage door G4 S1 ; wait for drives to be mapped to letters ; Drive config M350 E16:16:16 U1 V1 W1 ; configure microstepping with interpolation M92 X128 Y128 Z12800 E224.6:410:410 U200 V200 W128 ; set steps per mm M566 X900.00 Y900.00 Z60.00 E120:120:120 U900 V900 W120 P1 ; set maximum instantaneous speed changes (mm/min) M203 X42000 Y76050 Z1750 E9000:1200:1200 U6000 V6000 W100 ; set maximum speeds (mm/min) M201 X25635 Y19770 Z8209 E3000:3000:3000 U200 V200 W250 ; set accelerations (mm/s^2) M906 E2700:600:600 U400 V400 W800 I30 ; set motor currents (mA) and motor idle factor in per cent M84 S30 ; Set idle timeout ; Brakes M569.7 P0.2 C"out3" S100 ; driver 2 on board 6XD uses port out3 to control the brake M569.7 P0.3 C"out4" S100 ; driver 3 on board 6XD uses port out4 to control the brake M569.7 P0.4 C"out5" S100 ; driver 4 on board 6XD uses port out5 to control the brake M569.7 P0.5 C"out6" S100 ; driver 5 on board 6XD uses port out6 to control the brake ; Endstops M574 X1 S1 P"3.io0.in" ; configure switch-type (e.g. microswitch) endstop for low end on X via pin 3.io0.in M574 Y1 S1 P"0.io1.in" ; configure switch-type (e.g. microswitch) endstop for low end on Y via pin io1.in M574 Z1 S2 ; configure Z-probe endstop for low end on Z M574 U1 S1 P"3.!io3.in" ; configure actuator 1 endstop, high end, microswitch M574 V1 S1 P"3.!io5.in" ; configure actuator 2 endstop, high end, microswitch M574 W1 S1 P"0.io7.in" ; configure garage door endstop, low end, microswitch ; Hobby Servos M950 S0 C"3.io1.out" ; create servo 1 output on 3.io2 for mosquito acutator 1 M950 S1 C"3.io4.out" ; create servo 1 output on 3.io3 for mosquito acutator 2 ;Bed Leveling M671 X-405.7848:1541.3704:1541.3704:-405.7848 Y-226.27405:-226.27405:1472.34965:1472.34965 S1 P5 F1 ;Define Z screw X Y locations, max correction, pitch, fudge factor ; Axis Limits M208 X0 Y0 Z0 U0 V0 W0 S1 ; set axis minima M208 X1211 Y1197 Z1200 U17 V17 W100 S0 ; set axis maxima ; Z-Probe ; servo pin defined in fan accessories section ; create servo pin for BLTouch M558 P8 C"0.io8.in" H5 F120:12 T6000 ; set Z probe type and the dive height + speeds G31 P500 X0 Y0 Z2.5 ; set Z probe trigger value, offset and trigger height M557 X0:1200 Y0:1200 P10:10 ; define mesh grid ; Heaters M308 S0 P"0.temp0" Y"thermistor" A"Bed" T100000 B4725 C7.06e-8 ; configure bed sensor 0 as thermistor on pin temp0 M950 H0 C"0.out0" T0 ; create bed heater output on out0 and map it to sensor 0 M307 H0 B0 S1.00 ; disable bang-bang for bed and set pwm M140 P0 H0 S0 R0 ; bed heater 0 uses heater 0 M143 H0 S255 P0 T0 A2 C0 ; Max heater temp: Heater number, max temp, monitor number, sensor number, action, condition M308 S1 P"0.temp1" Y"thermistor" A"Chamber" T100000 B4725 C7.06e-8 ; configure chamber sensor 1 as thermistor on pin temp1 M950 H1 C"0.out1" T1 ; create chamber heater output on out1 and map it to sensor 1 M307 H1 B0 S1.00 ; disable bang-bang for chamber and set pwm M141 P0 H1 S0 R0 ; chamber heater 1 uses heater 1 M143 H1 S255 P0 T1 A2 C0 ; Max heater temp: Heater number, max temp, monitor number, sensor number, action, condition M308 S2 P"3.spi.cs0" Y"rtd-max31865" A"Primary Top" ; configure Primary sensor top as PT100 on pin spi.cs0 M950 H2 C"3.out6" T2 ; create Primary heater output on out3 and map it to sensor 2 M307 H2 A940 C810 D22 S1.0 B0 ; disable bang-bang for Primary and set pwm M143 H2 S480 P0 T2 A2 C0 ; Max heater temp: Heater number, max temp, monitor number, sensor number, action, condition M308 S3 P"3.spi.cs1" Y"rtd-max31865" A"Primary Middle" ; configure Primary sensor bottom as PT100 on pin spi.cs1 M950 H3 C"3.out7" T3 ; create Primary heater output on out4 and map it to sensor 3 M307 H3 A940 C810 D22 S1.0 B0 ; disable bang-bang for Primary and set pwm M143 H3 S480 P0 T3 A2 C0 ; Max heater temp: Heater number, max temp, monitor number, sensor number, action, condition M308 S4 P"4.spi.cs0" Y"rtd-max31865" A"Primary Nozzle" ; configure Primary sensor nozzle as PT100 on pin spi.cs0 M950 H4 C"4.out8" T4 ; create Primary heater output on out0 and map it to sensor 4 M307 H4 A795 C920 D10 S1.0 B0 ; disable bang-bang for Primary and set pwm M143 H4 S480 P0 T4 A2 C0 ; Max heater temp: Heater number, max temp, monitor number, sensor number, action, condition M308 S5 P"3.temp0" Y"PT1000" A"Mosquito 1A" ; configure mosquito 1 sensor A as PT1000 on pin temp0 M950 H5 C"3.out0" T5 ; create mosquito heater output on out0 and map it to sensor 5 M307 H5 B0 S1.00 ; disable bang-bang for Primary and set pwm M143 H5 S505 P0 T5 A2 C0 ; Max heater temp: Heater number, max temp, monitor number, sensor number, action, condition; M308 S6 P"3.temp1" Y"PT1000" A"Mosquito 1B" ; configure mosquito 1 sensor B as PT1000 on pin temp1; M950 H6 C"3.out1" T6 ; create mosquito heater output on out1 and map it to sensor 6 M307 H6 B0 S1.00 ; disable bang-bang for Primary and set pwm M143 H6 S505 P0 T6 A2 C0 ; Max heater temp: Heater number, max temp, monitor number, sensor number, action, condition M308 S7 P"4.temp0" Y"PT1000" A"Mosquito 2A" ; configure mosquito 2 sensor A as PT1000 on pin temp2 M950 H7 C"4.out0" T7 ; create mosquito heater output on out2 and map it to sensor 7 M307 H7 B0 S1.00 ; disable bang-bang for Primary and set pwm M143 H7 S505 P0 T7 A2 C0 ; Max heater temp: Heater number, max temp, monitor number, sensor number, action, condition M308 S8 P"4.temp1" Y"PT1000" A"Mosquito 2B" ; configure mosquito 2 sensor B as PT1000 on pin tem;p0 M950 H8 C"4.out1" T8 ; create mosquito heater output on out0 and map it to sensor 8 M307 H8 B0 S1.00 ; disable bang-bang for Primary and set pwm M143 H8 S505 P0 T8 A2 C0 ; Max heater temp: Heater number, max temp, monitor number, sensor number, action, condition ; Heater Faults M570 H2 P1000 T15 R10 M570 H3 P1000 T15 R10 M570 H4 P1000 T15 R10 ; Accessories M950 F0 C"0.out7" ; create chassis fan 0 on relay M106 P0 S0 H-1 C"Chassis Fan" ; set fan 0 value, thermostatic control off M950 F1 C"0.out8" ; create chamber fan 1 on relay M106 P1 S0 H1 T30 C"Chamber Fan" ; set fan 1 value, thermostatic control from sensor 1 M950 F2 C"0.out2" ; create Primary pc fan 2 M106 P2 S0 H-1 C"Primary PC Fan" ; set fan 2 value, thermostatic control off M950 F3 C"1.out1" ; create mosquito pc fan 3 M106 P3 S0 H-1 C"Mosquito PC Fan" ; set fan 3 value, thermostatic control off M950 F4 C"1.out2" ; create bed vac valve 1 M106 P4 S0 H-1 C"Vacuum Zone 1" ; set fan 5 value, thermostatic control off M950 F5 C"2.out0" ; create bed vac valve 2 M106 P5 S0 H-1 C"Vacuum Zone 2" ; set fan 5 value, thermostatic control off M950 F6 C"2.out1" ; create bed vac valve 3 M106 P6 S0 H-1 C"Vacuum Zone 3" ; set fan 5 value, thermostatic control off M950 F7 C"2.out2" ; create bed vac valve 4 M106 P7 S0 H-1 C"Vacuum Zone 4" ; set fan 5 value, thermostatic control off M950 F8 C"1.out3" ; create door locks on relay M106 P8 S0 H1 T65 C"Door Locks" ; set fan 5 value, thermostatic control on M950 F9 C"2.out4" ; create radiator on relay M106 P9 S1 H2:3:4:5:6:7:8 T45 C"Radiator Fans" ; set fan 8 value, thermostatic control on M950 F10 C"1.out4" ; create probe on relay M106 P10 S0 H-1 C"Probe Solenoid" M950 F11 C"1.out0" ; create venturi valve M106 P11 S0 H-1 C"Venturi" ; set fan 11 value, thermostatic control off M950 F12 C"4.out6" ; create head electronics fan M106 P12 S255 H-1 C"Head Elec Fan 1" ; set fan 12 value, thermostatic control off M950 F13 C"4.out7" ; create head electronics fan M106 P13 S255 H-1 C"Head Elec Fan 2" ; set fan 12 value, thermostatic control off ; Trigger Inputs M950 J0 C"1.io0.in" ; assign input j0 to 1.io0.in for right door lock status M581 P0 T0 S0 R1 ; configure external trigger, pin 0, trigger 0, active-inactive, during print M950 J1 C"1.io1.in" ; assign input j1 to 1.io1.in for left door lock status M581 P1 T1 S0 R1 ; configure external trigger, pin 1, trigger 1, active-inactive, during print M950 J2 C"1.io2.in" ; assign input j2 to 1.io2.in for front door lock status M581 P2 T2 S0 R1 ; configure external trigger, pin 2, trigger 2, active-inactive, during print M950 J3 C"1.io3.in" ; assign input j3 to 1.io3.in for right door open status M581 P3 T3 S0 R1 ; configure external trigger, pin 3, trigger 3, active-inactive, during print M950 J4 C"1.io4.in" ; assign input j4 to 1.io3.in for left door open status M581 P4 T4 S0 R1 ; configure external trigger, pin 4, trigger 4, active-inactive, during print M950 J5 C"1.io5.in" ; assign input j5 to 1.io5.in for front door open status M581 P5 T5 S0 R1 ; configure external trigger, pin 5, trigger 5, active-inactive, during print M950 J6 C"3.io2.in" ; assign input j6 to 3.io2.in for pellet hopper status M581 P6 T6 S1 R1 ; configure external trigger, pin 6, trigger 6, active-inactive, during print M581 P6 T7 S0 R0 ; configure external trigger, pin 6, trigger 6, inactive-active, any time ; Tools M563 P0 S"Primary" D0 H2:3:4 F2 ; define tool 0 as Primary, extruder 0, Heaters 2 3 4, Fan 2 G10 P0 R0 S0 ; set tool 0 active and standby temperatures to 0C G10 P0 X0 Y0 Z0 U0 V0 W0 ; set tool 0 axis offests M563 P1 S"Mosquito 1" D1 H5:6 F3 ; define tool 1 as Mosquito 1, extruder 1, Heaters 5 6, Fan 3 G10 P1 R0 S0 ; set tool 1 active and standby temperatures to 0C G10 P1 X0 Y0 Z0 U17 V0 W0 ; set tool 1 axis offests M563 P2 S"Mosquito 2" D2 H7:8 F3 ; define tool 2 as Mosquito 1, extruder 1, Heaters 7 8, Fan 3 G10 P2 R0 S0 ; set tool 2 active and standby temperatures to 0C G10 P2 X0 Y0 Z0 U0 V17 W0 ; set tool 2 axis offests ; Custom settings are not defined ; Miscellaneous T0 ; select first tool M106 P0 S255 ; chassis fans on ```CPM-SDHP-2326P-ELN -
@p8blr What firmware versions are you using, is your mainboard and 1XD on v3.4.5? At maximum X speed you'd generate ~90k steps/s which should be just doable by the 1XD.
