RRF 3.5.0 Beta 4 - Broken Kinematics?
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I upgraded today to Beta 4, and the kinematics no longer function properly. The Y gantry goes in reverse and the X and U axis conflict and crash into each other. I assumed maybe my config.g settings were wrong, but i spent the last hour trying to make a new X-Y-Z-U matrix, but the behavior is just unpredictable and i cant get it working.
IDEX CoreXY Dual Markforged printer has working normally until this update. Homing the printer simpyl crashes all the axis immediately. and the following error happens during bootup:
6/10/2023, 7:50:56 AM Error in start-up file macro line 5: in file macro line 5 column 18: M669: array too long, max length = 3config.g
; General preferences G90 ; send absolute coordinates... M83 ; ...but relative extruder moves M550 P"V-Core3" ; set printer name M669 K11 Y1:-1:0:-1 ; Dual Markforged Kinematics https://forum.duet3d.com/topic/7796/haq-xy/125 https://forum.duet3d.com/topic/21021/dual-markforged-kinematics?_=1672244913067 ;M669 K1 X1:0:0:0 Y1:-1:0:-1 Z0:0:1:0 U0:0:0:1; Matrix mapping for Axis - X:Y:Z:U G21 ; Set Units to Millimeters ; Network M552 S2 ; enable network, note P0.0.0.0 sets auto DHCP M553 P255.255.255.0 ; set subnet mask M554 P192.168.1.20 ; set gateway M586 P0 S1 ; enable HTTP M586 P1 S0 ; disable FTP M586 P2 S0 ; disable Telnet G4 S2 ; wait for expansion boards to start ; Drives M569 P0.0 S0 D2 ; Left Z physical drive 0.0 goes forwards M569 P0.1 S0 D2 ; Rear Z physical drive 0.1 goes forwards M569 P0.2 S0 D2 ; Right Z physical drive 0.2 goes forwards M569 P0.3 S1 D2 ; Right U toolhead drive 0.3 goes forwards M569 P0.4 S1 D2 ; Left X toolhead drive 0.4 goes forwards M569 P0.5 S0 D2 ; Left Y drive 0.5 goes forwards M569 P0.6 S1 D2 ; Right Y drive 0.6 goes reverse M569 P20.0 S1 D2 ; Extruder physical drive 20.0 goes forwards Toolboard 1LC M569 P21.0 S1 D2 ; Extruder physical drive 21.0 goes forwards Toolboard 1LC M569 P1.0 S0 D2 ; Extruder physical drive 1.0 goes forwards Expansion 3HC M569 P1.1 S0 D2 ; Extruder physical drive 1.1 goes forwards Expansion 3HC M569 P1.2 S1 D2 ; Extruder physical drive 1.2 goes forwards Expansion 3HC M584 Z0.0:0.1:0.2 Y0.5:0.6 X0.4 U0.3 E20.0:21.0:1.0:1.1 ; set drive mapping M350 U16 X16 Y16 Z16 E16:16:16:16 I1 ; configure microstepping with interpolation M92 U80.0 X80.00 Y80.00 Z800.00 E690:690:690:690 ; set steps per mm M906 U2000 X2000 Y2000 Z1800 E1000:1000:1000:1000 I30 ; set motor currents (mA) and motor idle factor in per cent -- safe for Duet 3 mini 5+ M84 S30 ; Set idle timeout ;M98 P"0:/sys/setspeeds.g" ; Set speed and acceleration M566 U500.00 X500.00 Y500.00 Z60.00 E300:300:300:300 P1 ;E300:300 P1 ;X1500.00 Y1500.00 Z6.00 E300 P1 ;E120.00 P1 ; set maximum instantaneous speed changes (mm/min) M203 U30000.00 X30000.00 Y30000.00 Z1000.00 E7200:7200:7200:7200 ;E7200:3600 ;E3600.00 ; set maximum speeds (mm/min) M201 U10000.00 X10000.00 Y10000.00 Z100.00 E3000:3000:3000:3000 ;E10000:3600 ;E3600.00 ; set accelerations (mm/s^2) M207 S0.6 F7200 Z0.2 ; firmware retraction orbiter 2.0 ; Axis Limits M208 X-70 U0 Y0 Z0 S1 ; set axis minima M208 X300 U380 Y306 Z300 S0 ; X310 ; set axis maxima ;M208 X-70:310 Y0:308 U0:308 Z0:300 ; Endstops M574 X1 S1 P"20.io2.in" ; configure active high endstops Toolhead 1 X low end M574 U2 S1 P"21.io2.in" ; configure active high endstops Toolhead 2 U high end M574 Y2 S1 P"io2.in" ; configure active high endstops Y. IO0 and IO1 also are UART, so do not put endstops on them, use them elsewhere to free up UART. M574 Z1 S2 M671 X-71:155:381 Y-1.5:305:-1.5 S5 ; NEW WIDEBOI WITH EXTRUSION SUPPORT LEADSCREW POSITIONS define positions of Z leadscrews or bed levelling screws ;M671 X-4.5:155:304.5 Y-4.5:305:-4.5 S5 ; OLD NON-WIDEBOI EXTRUION SUPPORT LEADSCREW POSITIONS define positions of Z leadscrews or bed levelling screws ;M557 X30:280 Y20:300 P5 ; define 5x5 mesh grid M557 X30:270 Y20:270 P5 ; Heaters M308 S0 P"temp0" Y"thermistor" T100000 B3950 A"Keenevo 600W Bed" ; configure sensor 0 as thermistor on pin temp0 M950 H0 C"out0" T0 Q10 ; Define Heater0 as the heated bed, bind to Sensor0 M140 H0 P0 ; Define Heated Bed M307 H0 R0.602 K0.401:0.000 D2.44 E1.35 S1.00 B0 ; PID Tuning for Heater0, Heated Bed (100C) M143 H0 S140 T0 A0 ; Set temperature limit for Heater0 to 120C M308 S1 P"20.temp0" Y"thermistor" T100000 B4725 C7.060000e-8 A"Slice Hotend 0" ;Slice Engineering 300C thermistor, settings are online M950 H1 C"20.out0" T1 Q100 ; Define Heater1 as Extruder0 heater, bind to Sensor1 M307 H1 R2.808 K0.368:0.000 D4.56 E1.35 S1.00 B0 V23.8 ; PID Tuning for Heater1, Extruder0 (240C) M143 H1 S325 T1 A0 ; Set temperature limit for heater 1 to 285C M308 S2 P"temp1" Y"thermistor" T100000 B3950 C7.060000e-8 A"Chamber" ; configure sensor 2 as thermistor on pin temp1 M950 H2 C"out1" T2 ;Q10 ; create chamber heater output on out1 and map it to sensor 2 M307 H2 R0.01 K0.200:0.000 D60 E1.35 S1.00 B1 ; enable bang-bang mode for the chamber heater and set PWM limit M141 H2 ; map chamber to heater 2 M143 H2 S120 T2 A0 ; set temperature limit for heater 2 to 60C M308 S3 P"21.temp0" Y"pt1000" A"Slice Hotend 1" ;Slice Engineering RTD PT1000 450C, settings are online M950 H3 C"21.out0" T3 Q100 ; Define Heater1 as Extruder0 heater, bind to Sensor1 M307 H3 R2.808 K0.368:0.000 D4.56 E1.35 S1.00 B0 V23.8 ; PID Tuning for Heater1, Extruder0 (240C) M143 H3 S425 T3 A0 ; S325 ; Set temperature limit for heater 1 to 285C M308 S4 P"20.temp1" Y"thermistor" A"Cooling Block" T100000 B3950 C7.060000e-8 ; Define Sensor as Chamber temperature M308 S5 Y"drivers" A"4028 Power" ; 4028 power using spare heater M308 S6 Y"mcu-temp" A"Mini 5+ MCU" ; Define Sensor3 as the integrated MCU temperature sensor M308 S7 Y"drivers" A"Mini 5+ TMC Drivers" ; Define Sensor4 as the TMC overheat sensor M308 S8 Y"mcu-temp" P"20.dummy" A"Toolboard0 MCU" M308 S9 Y"drivers" P"20.dummy" A"1LC0 Stepper" M308 S10 Y"mcu-temp" P"21.dummy" A"Toolboard1 MCU" M308 S11 Y"drivers" P"21.dummy" A"1LC1 Stepper" M308 S12 Y"mcu-temp" P"1.dummy" A"3HC MCU" M308 S13 Y"drivers" P"1.dummy" A"3HC TMC Drivers" M308 S14 P"temp2" Y"thermistor" T100000 B3950 C7.060000e-8 A"Orbiter Motor" ; configure sensor 9 as thermistor on pin temp2 M308 S15 P"spi.cs1" Y"thermocouple-max31856" K"K" A"TC0 Chamber Heater"; define temperature sensor number 10 as a K Type thermocouple on the first port of a temperature daughter board plugged into the expansion board with CAN bus address 3. M308 S16 P"spi.cs2" Y"thermocouple-max31856" K"K" A"TC1 Chamber Fins"; define temperature sensor number11 as a T Type thermocouple on the first port of a temperature daughter board plugged into the expansion board with CAN bus address 3. ;M308 S17 P"21.temp1" Y"thermistor" T4500000 B5315 C3.219245e-9 A"BLUE MELLOW" ; blue Mellow high temp thermistor (toolboard)https://duet3d.dozuki.com/Wiki/Connecting_thermistors_or_PT1000_temperature_sensors#Section_RepRapFirmware_3_x ;M308 S17 P"21.temp1" Y"pt1000" T500000 B4666 C1.117125e-7 A"WHITE MELLOW" ; white Mellow high temp pt1000 (toolboard)https://duet3d.dozuki.com/Wiki/Connecting_thermistors_or_PT1000_temperature_sensors#Section_RepRapFirmware_3_x ; Fans M950 H4 C"!out2" T2 Q10 ;H2 ; Define Heater2 as the 4028 fan power, bind to Sensor3 M143 H4 P2 S200 A0 ; Needed M143 to set max temp so the graph scaled correctly M950 F0 C"!20.out1+out1.tach" Q25000 ;Q500 ; create fan 0 on pin out4 and set its frequency M106 P0 C"T0 Layer Fan" L0.0 X1.0 S0 H-1 B0.1 ; set fan 0 name and value. Thermostatic control is turned off M950 F1 C"20.out2+out2.tach" Q500 ; Fan 1 uses out3, and using out3.tach as a tacho input M106 P1 C"T0 Hotend Fan" S0 H1 T45 ; For M106 the H is sensor # and NOT heater #. set fan 1 name and value. Thermostatic control turned on for Hotend M950 F2 C"out5" Q500 ; create fan 1 on pin out5 and set its frequency M106 P2 C"Mini 5+ Board Fan" S0 H5:6:7 T45 ; set fan 1 name and value. Thermostatic control turned on for Hotend M950 F3 C"!out3+out3.tach" Q500 ; ; Chamber Heater Fan Noctua NF-F12 Industrial M106 P3 C"Chamber Heater Fan" H15 T30 ; S0.3 L0.3 X0.6 B0.1 T30:40 ; set fan 1 name and value. Thermostatic control turned on for Hotend. M950 F4 C"1.out3" Q500 ; ; out6 on old mini 5+ ; create fan 4 for Water Cooling 12V Fan 4 on pin out4 and set its frequency M106 P4 C"Radiator Cooling Fan" S0 H4 T35 ; set fan 1 name and value. Thermostatic control turned on for liquid cooling hotend M950 F5 C"!out4+out4.tach" Q25000 ;Q500 ; create fan 4 for Water Cooling 12V Fan 4 on pin out4 and set its frequency M106 P5 C"Liquid Cooling Pump" L0.0 X1.0 S0.5 H4 ;S0.0 T20 ; set fan 4 name and value. Thermostatic control turned on for liquid cooling hotend M950 F6 C"!21.out1+out1.tach" Q25000 ;Q500 ; create fan 6 on pin out4 and set its frequency M106 P6 C"T1 Layer Fan" L0.0 X1.0 S0 H-1 B0.1 ; set fan 6 name and value. Thermostatic control is turned off M950 F7 C"21.out2+out2.tach" Q500 ; Fan 7 uses out3, and using out3.tach as a tacho input M106 P7 C"T1 Hotend Fan" S0 H3 T45 ; set fan 7 name and value. Thermostatic control turned on for Hotend M950 F8 C"1.out6" Q500 ; create fan 1 on pin out5 and set its frequency M106 P8 C"3HC Board Fan" S0 H12:13 T45 ; set fan 1 name and value. Thermostatic control turned on for Hotend M950 F9 C"!1.out4+out4.tach" Q25000 ;Q500 4028 filter fan ; create fan 0 on pin out4 and set its frequency M106 P9 C"Testing Chamber Fan" H16 T30 ; Tool 0 X Axis M563 P0 D0 H1 X0 F0 S"Mosquito Mag Liquid" ; define tool 0 G10 P0 X0 Y0 Z-0.54 ; Z-0.54 S210 R175 ; set tool 0 axis offsets, set initial tool 0 active 60C and standby temperatures to 0C M568 P0 S210 R175 ; Tool 1 U Axis M563 P1 D1 H3 X3 F6 S"Mosquito Mag Air" ; define tool 0 G10 P1 U0 X0 Y0 Z0 ; S210 R175 ; L1 ; set tool 1 axis offsets, set initial tool 1 active 60C and standby temperatures to 0C M568 P1 S210 R175 ; Tool 2-- Toolhead 2 with ROME 1 M563 P2 D1:2 H3 X3 F6 S"ROME 1" ; tool 2 uses both extruders and hot end heaters, maps X to both X and U, and uses both print cooling fans G10 P2 U-2.31 X0 Y0.44 Z0.00 ; Z0.04 S210 R175 ; L1 ; set tool 0 axis offsets, set initial tool 0 active 60C and standby temperatures to 0C M567 P2 E1:1 ; set mix ratio 100% on both extruders for copy mode M568 P2 S210 R175 ; Tool 3-- Toolhead 2 with ROME 2 M563 P3 D1:3 H3 X3 F6 S"ROME 2" ; tool 2 uses both extruders and hot end heaters, maps X to both X and U, and uses both print cooling fans G10 P3 U-2.31 X0 Y0.44 Z0.00 ; Z0.04 S210 R175 ; L1 ; set tool 0 axis offsets, set initial tool 0 active 60C and standby temperatures to 0C M567 P3 E1:1 ; set mix ratio 100% on both extruders for copy mode M568 P3 S210 R175 ; Tool 4-- copy mode ;M563 P4 D0:1 H1:3 X0:3 F0:6 S"copy mode" ; tool 2 uses both extruders and hot end heaters, maps X to both X and U, and uses both print cooling fans ;G10 P4 U-77.5 X77.5 Y0 S210 R175 ; set tool offsets and temperatures for tool 2 ;M567 P4 E1:1 ; set mix ratio 100% on both extruders for copy mode ; Tool 5-- mirror mode ;M563 P5 D0:1 H1:3 X0:3 F0:6 S"mirror mode" ; tool for mirror mode ;G10 P5 U-77.5 X77.5 Y0 S210 R175 ; tool offset for mirror mode (flipped X offset) ;M567 P5 E1:1 ; set mix ratio 100% on both extruders for mirror mode ; Z-Probe Euclid Probe ;M558 P5 C"20.io0.in" H5 F400 T5000 ; set Z probe type to unmodulated and the dive height + speeds M558 P8 C"^20.io0.in" H8 F400 T9000 A1 ; S0.01 ; set Z probe type to unmodulated and the dive height + speeds G31 P1000 X-28 Y-20 Z9.71 ; Z9.21 ; K0 ; set Z probe trigger value, offset and trigger height, more Z means closer to the bed ;; BLTouch ; M950 S0 C"io7.out" ; Create a servo pin on io7 ; M558 P9 C"io7.in" H5 F240 T10800 A5 ; set Z probe type to unmodulated and the dive height + speeds ; G31 P25 X-28.00 Y-13.00 Z0.78 ; set Z probe trigger value, offset and trigger height, more Z means closer to the bed ;Accelerometer M955 P20.0 I14 ;Input Shaper M593 P"zvdd" F31 ; for 10k acceleration ;M593 P"mzv" F42.5 ; for 15k acceleration ;Filament Sensor0 ;M591 D0 P3 C"20.io1.in" S1 ;M591 D0 L27 R10:190 ;ROME Filament Sensor0 ;M591 D2 P1 C"21.io0.in" S1 ;M591 D2 L27 R10:190 ;M574 U2 S1 P"21.io0.in" ; configure active high endstops Toolhead 2 ROME toolhead filament sensor ;M577 wait until endstop is triggered. Does equivalent exist for a general IO sensor? M950 J0 C"^!21.io0.in" ;PanelDue 5i M575 P1 S1 B57600 ;NeoPixels x3 M150 X3 Q4000000 ;R128 U128 B128 P128 S2 F0 M150 X3 R255 U255 B255 W255 P255 S2 F0 ; display led ; Custom settings G29 S1 M572 D0:1 S0.065 ; set Pressure Advance K-factor M501 ; load saved parameters from non-volatile memory M376 H3 ;M911 S10 R11 P"M913 X0 Y0 G91 M83 G1 Z3 E-5 F1000" ; set voltage thresholds and actions to run on power loss global daemonLoop = true ; init filament sensor error global variables if !exists(global.filamentTimestamp) global filamentCounter = 0 global filamentTimestamp = state.Uptime ; init print time logging if !exists(global.runtime) M98 P"runtime.g" ; init LED variables if !exists(global.warmUp) global warmUp = false ; Select default tool M404 N1.75 ; Define filament diameter for print monitor T0here is my homeall.g
if (move.axes[0].homed && move.axes[1].homed && move.axes[2].homed && move.axes[3].homed) echo "already homed, skipping" else ;T0 G91 ; Relative positioning G1 Z15 F6000 H2 ; Lift Z relative to current position G1 Y999 F3000 H1 ; Move X and Y-axes to the endstops and stop (first pass) G1 Y-4 F600 ; Move Y-axis to the endstop and stop (first pass) G1 Y15 F600 H1 ; Move X-axis to the endstop once more (second pass) G1 X-999 F3000 H1 ; coarse home X, Y and U G1 X4 F600 ; move 4mm away from the homing switches G1 X-15 H1 ; fine home X, Y and U G1 U999 F3000 H1 ; coarse home X, Y and U G1 U-4 F600 ; move 4mm away from the homing switches G1 U15 H1 ; fine home X, Y and U G90 ; Absolute positioning M401 ; deploy Z probe (omit if using bltouch) ; Home Z using the Z-Probe M290 R0 S0 ; Reset baby-stepping to 0 G1 X183 Y170 F6000 ; Move T0 to probing point (X150, Y150), including probe offset G30 ; Probe the bed and set Z to the probe offset M402 ; retract probe (omit if using bltouch) -
@RogerPodacter i understand a bit more. on a new boot up, my homeall.g runs Y gantry backwards, and does not properly hold U axis in place. i have better results if i home each axis individually. but still not fully proper operation. it seems like when the axis are in a non-homed state things go crazy, but once the axis are home (by individually homing them), the behavior is better. but still Y runs backwards.
M122
6/10/2023, 11:51:05 AM M122 B0 === Diagnostics === RepRapFirmware for Duet 3 Mini 5+ version 3.5.0-beta.4 (2023-06-08 23:40:14) running on Duet 3 Mini5plus WiFi (standalone mode) Board ID: J6RFD-NR6KL-K65J0-409NN-LK02Z-7M5YU Used output buffers: 1 of 40 (36 max) Error in macro line 7 while starting up: in file macro line 7 column 16: M669: array too long, max length = 3 === RTOS === Static ram: 102996 Dynamic ram: 125840 of which 104 recycled Never used RAM 9900, free system stack 140 words Tasks: NETWORK(1,ready,17.9%,211) HEAT(3,nWait,0.1%,333) Move(4,nWait,0.0%,293) CanReceiv(6,nWait,0.1%,682) CanSender(5,nWait,0.0%,337) CanClock(7,delaying,0.0%,351) TMC(4,nWait,1.2%,74) MAIN(1,running,76.9%,688) IDLE(0,ready,2.9%,29) AIN(4,delaying,0.8%,266), total 100.0% Owned mutexes: HTTP(MAIN) === Platform === Last reset 00:28:20 ago, cause: software Last software reset at 2023-06-10 11:22, reason: User, Gcodes spinning, available RAM 9900, slot 0 Software reset code 0x0003 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x00000000 BFAR 0xe000ed38 SP 0x00000000 Task MAIN Freestk 0 n/a Error status: 0x00 Aux0 errors 0,0,0 MCU revision 3, ADC conversions started 1700555, completed 1700555, timed out 0, errs 0 MCU temperature: min 40.7, current 43.6, max 45.1 Supply voltage: min 23.4, current 24.1, max 24.9, under voltage events: 0, over voltage events: 0, power good: yes Heap OK, handles allocated/used 99/4, heap memory allocated/used/recyclable 2048/1684/1568, gc cycles 2377 Events: 0 queued, 0 completed Driver 0: standstill, SG min 0, read errors 0, write errors 1, ifcnt 47, reads 23461, writes 16, timeouts 0, DMA errors 0, CC errors 0 Driver 1: standstill, SG min 0, read errors 0, write errors 1, ifcnt 47, reads 23461, writes 16, timeouts 0, DMA errors 0, CC errors 0 Driver 2: standstill, SG min 0, read errors 0, write errors 1, ifcnt 47, reads 23461, writes 16, timeouts 0, DMA errors 0, CC errors 0 Driver 3: standstill, SG min 0, read errors 0, write errors 1, ifcnt 41, reads 23463, writes 13, timeouts 0, DMA errors 0, CC errors 0 Driver 4: standstill, SG min 0, read errors 0, write errors 1, ifcnt 49, reads 23459, writes 18, timeouts 0, DMA errors 0, CC errors 0 Driver 5: standstill, SG min 0, read errors 0, write errors 1, ifcnt 49, reads 23459, writes 18, timeouts 0, DMA errors 0, CC errors 0 Driver 6: standstill, SG min 0, read errors 0, write errors 1, ifcnt 49, reads 23458, writes 18, timeouts 0, DMA errors 0, CC errors 0 Date/time: 2023-06-10 11:51:05 Cache data hit count 2946444234 Slowest loop: 34.31ms; fastest: 0.11ms === Storage === Free file entries: 19 SD card 0 detected, interface speed: 22.5MBytes/sec SD card longest read time 34.0ms, write time 0.0ms, max retries 0 === Move === DMs created 83, segments created 15, maxWait 209667ms, bed compensation in use: mesh, height map offset 0.000, ebfmin 0.00, ebfmax 0.00 no step interrupt scheduled === DDARing 0 === Scheduled moves 7, completed 7, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 1], CDDA state -1 === DDARing 1 === Scheduled moves 0, completed 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1 === Heat === Bed heaters 0 -1 -1 -1, chamber heaters 2 -1 -1 -1, ordering errs 0 === GCodes === Movement locks held by null, null HTTP is ready with "M122 B0" 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 0, running macro Aux2 is idle in state(s) 0 Autopause is idle in state(s) 0 File2 is idle in state(s) 0 Queue2 is idle in state(s) 0 Q0 segments left 0, axes/extruders owned 0x0000005 Code queue 0 is empty Q1 segments left 0, axes/extruders owned 0x0000000 Code queue 1 is empty === CAN === Messages queued 15358, received 95213, lost 0, boc 0 Longest wait 3ms for reply type 6053, peak Tx sync delay 284, free buffers 18 (min 17), ts 8502/8501/0 Tx timeouts 0,0,0,0,0,0 === Network === Slowest loop: 7.68ms; fastest: 0.00ms Responder states: MQTT(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) FTP(0) Telnet(0) HTTP sessions: 1 of 8 = WiFi = Interface state: active Module is providing access point Failed messages: pending 0, notready 0, noresp 0 Firmware version 2.1beta3 MAC address ea:68:e7:e5:63:f4 Module reset reason: Power up, Vcc 3.39, flash size 2097152, free heap 40124 WiFi IP address 192.168.1.10 Connected clients 1 Clock register 00002001 Socket states: 0 0 0 0 0 0 0 03HC
6/10/2023, 11:51:45 AM M122 B1 Diagnostics for board 1: Duet EXP3HC rev 1.02 or later firmware version 3.5.0-beta.4 (2023-06-08 16:24:05) Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10) All averaging filters OK Never used RAM 156280, free system stack 182 words Tasks: Move(3,nWait,0.0%,182) HEAT(2,nWait,0.0%,90) CanAsync(5,nWait,0.0%,67) CanRecv(3,nWait,0.0%,79) CanClock(5,nWait,0.0%,70) TMC(2,nWait,5.9%,103) MAIN(1,running,92.7%,419) IDLE(0,ready,0.0%,40) AIN(2,delaying,1.3%,265), total 100.0% Last reset 00:28:59 ago, cause: software Last software reset data not available Driver 0: pos 0, 690.0 steps/mm, standstill, SG min n/a, mspos 8, reads 26111, writes 18 timeouts 0, steps req 0 done 0 Driver 1: pos 0, 690.0 steps/mm, standstill, SG min n/a, mspos 8, reads 26112, writes 18 timeouts 0, steps req 0 done 0 Driver 2: pos 0, 80.0 steps/mm, standstill, SG min n/a, mspos 8, reads 26118, writes 13 timeouts 0, steps req 0 done 0 Moves scheduled 0, completed 0, in progress 0, hiccups 0, step errors 0, maxPrep 0, maxOverdue 0, maxInc 0, mcErrs 0, gcmErrs 0, ebfmin 0.00, ebfmax 0.00 Peak sync jitter -9/10, peak Rx sync delay 183, resyncs 0/0, no timer interrupt scheduled VIN voltage: min 23.8, current 24.3, max 24.7 V12 voltage: min 12.3, current 12.3, max 12.3 MCU temperature: min 31.8C, current 32.2C, max 32.7C Last sensors broadcast 0x00003000 found 2 13 ticks ago, 0 ordering errs, loop time 0 CAN messages queued 27864, send timeouts 0, received 29571, lost 0, free buffers 38, min 38, error reg 0 dup 0, oos 0/0/0/0, bm 0, wbm 0, rxMotionDelay 01LC
6/10/2023, 11:52:13 AM M122 B20 Diagnostics for board 20: Duet TOOL1LC rev 1.1 or later firmware version 3.5.0-beta.4 (2023-06-08 16:22:30) Bootloader ID: SAMC21 bootloader version 2.3 (2021-01-26b1) All averaging filters OK Never used RAM 1504, free system stack 142 words Tasks: Move(3,nWait,0.0%,175) HEAT(2,nWait,0.3%,97) CanAsync(5,nWait,0.0%,54) CanRecv(3,nWait,0.0%,77) CanClock(5,nWait,0.0%,66) ACCEL(3,nWait,0.0%,53) TMC(2,delaying,3.0%,57) MAIN(1,running,91.7%,346) IDLE(0,ready,0.0%,27) AIN(2,delaying,4.9%,142), total 100.0% Last reset 00:29:28 ago, cause: software Last software reset data not available Driver 0: pos 0, 690.0 steps/mm, standstill, SG min 0, read errors 0, write errors 3, ifcnt 43, reads 32422, writes 12, timeouts 0, DMA errors 0, CC errors 0, steps req 0 done 0 Moves scheduled 0, completed 0, in progress 0, hiccups 0, step errors 0, maxPrep 0, maxOverdue 0, maxInc 0, mcErrs 0, gcmErrs 0, ebfmin 0.00, ebfmax 0.00 Peak sync jitter -4/10, peak Rx sync delay 213, resyncs 0/0, no timer interrupt scheduled VIN voltage: min 23.7, current 24.2, max 24.6 MCU temperature: min 28.9C, current 29.2C, max 29.4C Last sensors broadcast 0x00000312 found 4 99 ticks ago, 0 ordering errs, loop time 0 CAN messages queued 35394, send timeouts 0, received 30068, lost 0, free buffers 18, min 18, error reg 0 dup 0, oos 0/0/0/0, bm 0, wbm 0, rxMotionDelay 0 Accelerometer: LIS3DH, status: 00 I2C bus errors 0, naks 3, other errors 0EDIT: when jogging the carriage around manually, it occasionally stutters. I noticed this same behavior when i tried Beta 3 before i switched back to 3.4.2. on Beta 4 it seems this stutter behavior happens again.
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