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    3.5.0rc1: Input shaping causes layer shifts!?

    Scheduled Pinned Locked Moved Solved
    Beta Firmware
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    • dc42undefined
      dc42 administrators @adrian
      last edited by

      @adrian thanks. Your M122 report contains useful data. Please can you share your config.g file and any other macros it calls, daemon.g if you.use it, and the print file. Also the approximate height at which the first layer shift occurs.

      Duet WiFi hardware designer and firmware engineer
      Please do not ask me for Duet support via PM or email, use the forum
      http://www.escher3d.com, https://miscsolutions.wordpress.com

      dc42undefined adrianundefined 3 Replies Last reply Reply Quote 0
      • dc42undefined
        dc42 administrators @dc42
        last edited by

        @NeoDue @oliof @adrian I have identified and corrected another step timing anomaly. Please try the updated files at https://www.dropbox.com/scl/fo/p0136wx04h8xf6ejwdnn9/h?rlkey=efrfwyb6o5tqid11gustz3uvy&dl=0.

        As before, if you get any layer shifts or hear any strange noises (e.g. bangs) from the motion motors, please run M122 and post the report here. Note, each time you run M122 it clears the accumulated debug data after reporting it, so only the first M122 report taken after a layer shift or strange noises contains useful data - although of course if you get another layer shift or strange noises after running M122 then you can run M122 again to report data relevant to those events.

        Duet WiFi hardware designer and firmware engineer
        Please do not ask me for Duet support via PM or email, use the forum
        http://www.escher3d.com, https://miscsolutions.wordpress.com

        NeoDueundefined 2 Replies Last reply Reply Quote 0
        • NeoDueundefined
          NeoDue @dc42
          last edited by

          @dc42 I am afraid your last changes might have made things worse: one slight "bang" noise already layer 3, and layer shift at height 1.4mm.

          The test part is the same as in my previous tests.

          Here is the M122 readout of the bang:

          M122
          === Diagnostics ===
          RepRapFirmware for Duet 3 MB6HC version 3.5.0-rc.3+ (2024-02-13 13:34:06) running on Duet 3 MB6HC v1.02 or later (standalone mode)
          Board ID: 08DJM-956BA-NA3TN-6JTDL-3SN6L-998UU
          Used output buffers: 3 of 40 (33 max)
          === RTOS ===
          Static ram: 155208
          Dynamic ram: 123408 of which 0 recycled
          Never used RAM 63896, free system stack 134 words
          Tasks: NETWORK(2,nWait 7,16.3%,172) HEAT(3,nWait 1,0.0%,323) Move(4,nWait 6,2.2%,227) CanReceiv(6,nWait 1,0.0%,940) CanSender(5,nWait 7,0.0%,334) CanClock(7,delaying,0.0%,334) TMC(4,nWait 6,9.5%,56) MAIN(1,running,70.6%,103) IDLE(0,ready,1.3%,30), total 100.0%
          Owned mutexes: WiFi(NETWORK)
          === Platform ===
          Last reset 00:15:37 ago, cause: software
          Last software reset at 2024-02-13 18:34, reason: User, Gcodes spinning, available RAM 64248, slot 0
          Software reset code 0x0003 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x00400000 BFAR 0x00000000 SP 0x00000000 Task MAIN Freestk 0 n/a
          Error status: 0x00
          Aux0 errors 0,0,0
          MCU temperature: min 36.5, current 43.8, max 44.0
          Supply voltage: min 23.6, current 23.8, max 24.1, under voltage events: 0, over voltage events: 0, power good: yes
          12V rail voltage: min 12.0, current 12.3, max 12.7, under voltage events: 0
          Heap OK, handles allocated/used 99/3, heap memory allocated/used/recyclable 2048/1612/1560, gc cycles 2
          Events: 0 queued, 0 completed
          Driver 0: ok, SG min 0, mspos 623, reads 19231, writes 29 timeouts 0
          Driver 1: standstill, SG min 0, mspos 232, reads 19231, writes 29 timeouts 0
          Driver 2: standstill, SG min 0, mspos 424, reads 19238, writes 23 timeouts 0
          Driver 3: ok, SG min 0, mspos 840, reads 19238, writes 23 timeouts 0
          Driver 4: standstill, SG min 0, mspos 746, reads 19242, writes 19 timeouts 0
          Driver 5: ok, SG min 0, mspos 46, reads 19242, writes 19 timeouts 0
          Date/time: 2024-02-13 18:49:49
          Slowest loop: 212.35ms; fastest: 0.05ms
          === Storage ===
          Free file entries: 18
          SD card 0 detected, interface speed: 25.0MBytes/sec
          SD card longest read time 5.1ms, write time 2.7ms, max retries 0
          === Move ===
          DMs created 125, segments created 26, maxWait 145311ms, bed compensation in use: none, height map offset 0.000, max steps late 1, min interval 0, bad calcs 0, ebfmin 0.00, ebfmax 1.00
          next step interrupt due in 480 ticks, disabled
          Moves shaped first try 6, on retry 81, too short 745, wrong shape 6305, maybepossible 347
          === DDARing 0 ===
          Scheduled moves 24526, completed 24466, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state 3
          === 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 -1 -1 -1 -1 -1 -1 -1 -1, chamber heaters -1 -1 -1 -1, ordering errs 0
          Heater 0 is on, I-accum = 0.4
          Heater 1 is on, I-accum = 0.3
          === GCodes ===
          Movement locks held by null, null
          HTTP is idle in state(s) 0
          Telnet is idle in state(s) 0
          File is idle in state(s) 3
          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
          Aux2 is idle in state(s) 0
          Autopause is idle in state(s) 0
          File2 is idle in state(s) 0, sync state 1
          Queue2 is idle in state(s) 0
          Q0 segments left 15, axes/extruders owned 0x80000007
          Code queue 0 is empty
          Q1 segments left 0, axes/extruders owned 0x0000000
          Code queue 1 is empty
          === Filament sensors ===
          check 10347352 clear 326009
          Extruder 0 sensor: ok
          Extruder 1 sensor: ok
          === CAN ===
          Messages queued 8429, received 0, lost 0, errs 4443556, boc 0
          Longest wait 0ms for reply type 0, peak Tx sync delay 0, free buffers 50 (min 50), ts 4686/0/0
          Tx timeouts 0,0,4685,0,0,3742 last cancelled message type 30 dest 127
          === Network ===
          Slowest loop: 11.99ms; fastest: 0.00ms
          Responder states: MQTT(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) FTP(0) Telnet(0) Telnet(0)
          HTTP sessions: 1 of 8
          = Ethernet =
          Interface state: disabled
          Error counts: 0 0 0 0 0 0
          Socket states: 0 0 0 0 0 0 0 0
          === WiFi ===
          Interface state: active
          Module is connected to access point 
          Failed messages: pending 0, notrdy 0, noresp 0
          Firmware version 2.1beta6
          MAC address 70:04:1d:be:ad:b8
          Module reset reason: Power up, Vcc 0.00, flash size 4194304, free heap 225152
          WiFi IP address 192.168.178.31
          Signal strength -57dBm, channel 2, mode 802.11n, reconnections 0
          Clock register 00002002
          Socket states: 0 0 0 0 0 0 0 0
          === Multicast handler ===
          Responder is inactive, messages received 0, responses 0
          

          And this is the one taken after the layer shift occurred:

          M122
          === Diagnostics ===
          RepRapFirmware for Duet 3 MB6HC version 3.5.0-rc.3+ (2024-02-13 13:34:06) running on Duet 3 MB6HC v1.02 or later (standalone mode)
          Board ID: 08DJM-956BA-NA3TN-6JTDL-3SN6L-998UU
          Used output buffers: 5 of 40 (35 max)
          === RTOS ===
          Static ram: 155208
          Dynamic ram: 123408 of which 0 recycled
          Never used RAM 63896, free system stack 134 words
          Tasks: NETWORK(2,nWait 7,16.5%,172) HEAT(3,nWait 6,0.0%,323) Move(4,nWait 6,3.2%,227) CanReceiv(6,nWait 1,0.0%,940) CanSender(5,nWait 7,0.0%,334) CanClock(7,delaying,0.0%,334) TMC(4,nWait 6,9.7%,56) MAIN(1,running,70.5%,103) IDLE(0,ready,0.1%,30), total 100.0%
          Owned mutexes:
          === Platform ===
          Last reset 00:23:52 ago, cause: software
          Last software reset at 2024-02-13 18:34, reason: User, Gcodes spinning, available RAM 64248, slot 0
          Software reset code 0x0003 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x00400000 BFAR 0x00000000 SP 0x00000000 Task MAIN Freestk 0 n/a
          Error status: 0x00
          Aux0 errors 0,0,0
          MCU temperature: min 43.7, current 45.1, max 45.6
          Supply voltage: min 23.6, current 23.9, max 24.1, under voltage events: 0, over voltage events: 0, power good: yes
          12V rail voltage: min 12.1, current 12.3, max 12.7, under voltage events: 0
          Heap OK, handles allocated/used 99/3, heap memory allocated/used/recyclable 2048/628/576, gc cycles 4
          Events: 0 queued, 0 completed
          Driver 0: standstill, SG min 0, mspos 296, reads 39704, writes 0 timeouts 0
          Driver 1: standstill, SG min n/a, mspos 232, reads 39705, writes 0 timeouts 0
          Driver 2: standstill, SG min 0, mspos 936, reads 39704, writes 0 timeouts 0
          Driver 3: ok, SG min 0, mspos 532, reads 39704, writes 0 timeouts 0
          Driver 4: standstill, SG min n/a, mspos 746, reads 39704, writes 0 timeouts 0
          Driver 5: ok, SG min 0, mspos 178, reads 39704, writes 0 timeouts 0
          Date/time: 2024-02-13 18:58:05
          Slowest loop: 6.91ms; fastest: 0.07ms
          === Storage ===
          Free file entries: 17
          SD card 0 detected, interface speed: 25.0MBytes/sec
          SD card longest read time 5.2ms, write time 0.0ms, max retries 0
          === Move ===
          DMs created 125, segments created 26, maxWait 226ms, bed compensation in use: none, height map offset 0.000, max steps late 1, min interval 0, bad calcs 0, ebfmin 0.00, ebfmax 1.00
          next step interrupt due in 143 ticks, disabled
          Moves shaped first try 2, on retry 108, too short 1478, wrong shape 13289, maybepossible 867
          === DDARing 0 ===
          Scheduled moves 42846, completed 42786, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state 3
          === 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 -1 -1 -1 -1 -1 -1 -1 -1, chamber heaters -1 -1 -1 -1, ordering errs 0
          Heater 0 is on, I-accum = 0.4
          Heater 1 is on, I-accum = 0.3
          === GCodes ===
          Movement locks held by null, null
          HTTP is idle in state(s) 0
          Telnet is idle in state(s) 0
          File is idle in state(s) 3
          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 doing "G4 S10" 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, sync state 1
          Queue2 is idle in state(s) 0
          Q0 segments left 30, axes/extruders owned 0x80000007
          Code queue 0 is empty
          Q1 segments left 0, axes/extruders owned 0x0000000
          Code queue 1 is empty
          === Filament sensors ===
          check 15731742 clear 326009
          Extruder 0 sensor: ok
          Extruder 1 sensor: ok
          === CAN ===
          Messages queued 4463, received 0, lost 0, errs 2356269, boc 0
          Longest wait 0ms for reply type 0, peak Tx sync delay 0, free buffers 50 (min 50), ts 2479/0/0
          Tx timeouts 0,0,2479,0,0,1984 last cancelled message type 4514 dest 127
          === Network ===
          Slowest loop: 20.79ms; fastest: 0.07ms
          Responder states: MQTT(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) FTP(0) Telnet(0) Telnet(0)
          HTTP sessions: 1 of 8
          = Ethernet =
          Interface state: disabled
          Error counts: 0 0 0 0 0 0
          Socket states: 0 0 0 0 0 0 0 0
          === WiFi ===
          Interface state: active
          Module is connected to access point 
          Failed messages: pending 0, notrdy 0, noresp 0
          Firmware version 2.1beta6
          MAC address 70:04:1d:be:ad:b8
          Module reset reason: Power up, Vcc 0.00, flash size 4194304, free heap 225152
          WiFi IP address 192.168.178.31
          Signal strength -59dBm, channel 2, mode 802.11n, reconnections 0
          Clock register 00002002
          Socket states: 0 0 0 0 0 0 0 0
          === Multicast handler ===
          Responder is inactive, messages received 0, responses 0
          
          1 Reply Last reply Reply Quote 0
          • NeoDueundefined
            NeoDue @dc42
            last edited by NeoDue

            @dc42 Out of curiosity, I also tested what @oliof mentioned. Increasing currents to the maximum did not change anything either, however, layer shift at 1.75mm:

            M122
            === Diagnostics ===
            RepRapFirmware for Duet 3 MB6HC version 3.5.0-rc.3+ (2024-02-13 13:34:06) running on Duet 3 MB6HC v1.02 or later (standalone mode)
            Board ID: 08DJM-956BA-NA3TN-6JTDL-3SN6L-998UU
            Used output buffers: 7 of 40 (32 max)
            === RTOS ===
            Static ram: 155208
            Dynamic ram: 123544 of which 0 recycled
            Never used RAM 63760, free system stack 128 words
            Tasks: NETWORK(2,nWait 7,16.0%,172) HEAT(3,nWait 1,0.0%,323) Move(4,nWait 6,2.9%,239) CanReceiv(6,nWait 1,0.0%,940) CanSender(5,nWait 7,0.0%,334) CanClock(7,delaying,0.0%,334) TMC(4,nWait 6,9.7%,56) MAIN(1,running,70.1%,103) IDLE(0,ready,1.2%,30), total 100.0%
            Owned mutexes: WiFi(NETWORK)
            === Platform ===
            Last reset 00:22:55 ago, cause: software
            Last software reset at 2024-02-13 19:10, reason: User, Gcodes spinning, available RAM 64672, slot 2
            Software reset code 0x0003 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x00400000 BFAR 0x00000000 SP 0x00000000 Task MAIN Freestk 0 n/a
            Error status: 0x00
            Aux0 errors 0,0,0
            MCU temperature: min 43.9, current 46.4, max 46.6
            Supply voltage: min 23.6, current 23.9, max 24.1, under voltage events: 0, over voltage events: 0, power good: yes
            12V rail voltage: min 12.0, current 12.3, max 12.6, under voltage events: 0
            Heap OK, handles allocated/used 99/3, heap memory allocated/used/recyclable 2048/248/196, gc cycles 4
            Events: 0 queued, 0 completed
            Driver 0: ok, SG min 0, mspos 750, reads 57987, writes 27 timeouts 0
            Driver 1: standstill, SG min 0, mspos 264, reads 57987, writes 27 timeouts 0
            Driver 2: standstill, SG min 0, mspos 504, reads 57991, writes 23 timeouts 0
            Driver 3: stalled, SG min 0, mspos 53, reads 57989, writes 25 timeouts 0
            Driver 4: standstill, SG min 0, mspos 466, reads 57995, writes 19 timeouts 0
            Driver 5: ok, SG min 0, mspos 238, reads 57996, writes 19 timeouts 0
            Date/time: 2024-02-13 19:33:15
            Slowest loop: 816.19ms; fastest: 0.05ms
            === Storage ===
            Free file entries: 18
            SD card 0 detected, interface speed: 25.0MBytes/sec
            SD card longest read time 4.3ms, write time 102.7ms, max retries 0
            === Move ===
            DMs created 125, segments created 26, maxWait 117938ms, bed compensation in use: none, height map offset 0.000, max steps late 1, min interval 0, bad calcs 0, ebfmin 0.00, ebfmax 1.00
            next step interrupt due in 64 ticks, disabled
            Moves shaped first try 7, on retry 280, too short 2460, wrong shape 21310, maybepossible 1427
            === DDARing 0 ===
            Scheduled moves 45790, completed 45740, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state 3
            === 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 -1 -1 -1 -1 -1 -1 -1 -1, chamber heaters -1 -1 -1 -1, ordering errs 0
            Heater 0 is on, I-accum = 0.4
            Heater 1 is on, I-accum = 0.4
            === GCodes ===
            Movement locks held by null, null
            HTTP is idle in state(s) 0
            Telnet is idle in state(s) 0
            File is idle in state(s) 3
            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
            Aux2 is idle in state(s) 0
            Autopause is idle in state(s) 0
            File2 is idle in state(s) 0, sync state 1
            Queue2 is idle in state(s) 0
            Q0 segments left 10, axes/extruders owned 0x80000007
            Code queue 0 is empty
            Q1 segments left 0, axes/extruders owned 0x0000000
            Code queue 1 is empty
            === Filament sensors ===
            check 14945236 clear 310047
            Extruder 0 sensor: ok
            Extruder 1 sensor: ok
            === CAN ===
            Messages queued 12375, received 0, lost 0, errs 6525776, boc 0
            Longest wait 0ms for reply type 0, peak Tx sync delay 0, free buffers 50 (min 50), ts 6878/0/0
            Tx timeouts 0,0,6877,0,0,5496 last cancelled message type 4514 dest 127
            === Network ===
            Slowest loop: 784.06ms; fastest: 0.00ms
            Responder states: MQTT(0) HTTP(0) HTTP(2) HTTP(0) HTTP(0) HTTP(0) HTTP(0) FTP(0) Telnet(0) Telnet(0)
            HTTP sessions: 1 of 8
            = Ethernet =
            Interface state: disabled
            Error counts: 0 0 0 0 0 0
            Socket states: 0 0 0 0 0 0 0 0
            === WiFi ===
            Interface state: active
            Module is connected to access point 
            Failed messages: pending 0, notrdy 0, noresp 0
            Firmware version 2.1beta6
            MAC address 70:04:1d:be:ad:b8
            Module reset reason: Power up, Vcc 0.00, flash size 4194304, free heap 220536
            WiFi IP address 192.168.178.31
            Signal strength -59dBm, channel 2, mode 802.11n, reconnections 0
            Clock register 00002002
            Socket states: 0 0 0 0 0 0 0 0
            === Multicast handler ===
            Responder is inactive, messages received 0, responses 0
            

            But I also tried a print where I switched between IS on and off every couple of layers - and I finally could see one of the blobs you were talking about. I could directly turn blob occurrance (and therefore rumbling on the next layer) and off by switching between IS on and IS off.

            Edit: In case it matters: the "test-blob" I found occurs on layer 2, 4 and 6 in the middle of the last line of the solid infill of my test part. Prusaslicer decided in its wisdom to split this line into two long pieces which are connected by two very short ones. This is the gcode that causes the blob:

            ; (tool position before this snippet begins: X-7.877 Y28.826)
            G1 X-7.823 Y28.723 E.00266
            G1 X-7.815 Y-7.037 E.75823
            G1 X-7.867 Y-7.142 E.00277
            G1 X-7.919 Y-7.246 E.00303
            G1 X-7.922 Y-42.252 E.91196
            
            dc42undefined 2 Replies Last reply Reply Quote 0
            • adrianundefined
              adrian @dc42
              last edited by

              @dc42 Here is my config

              ; Configuration file for RepRapFirmware on Duet 3 Main Board 6HC
              ; executed by the firmware on start-up
              ;
              ; generated by RepRapFirmware Configuration Tool v3.5.0-rc.1+1 on Mon Dec 11 2023 18:26:16 GMT-0600 (Central Standard Time)
              
              ; General
              M550 P"SeaMonster" ; set hostname
              
              ; Accessories
              M575 P1 S0 B57600 ; configure PanelDue support
              
              ; Network
              M552 P0.0.0.0 S1 ; configure Ethernet adapter
              M586 P0 S1 ; configure HTTP
              
              ; LED Strips
              M950 E0 C"led" T2 U3 ; LEDs on SB Toolhead (3) (LED 0)
              M950 E1 C"io7.out" T2 U25 ; Left Overhead LEDs (25) (LED 1)
              M950 E2 C"io8.out" T2 U25 ; Right Overhead LEDs (25) (LED 2)
              
              ; ====================---------------------------------------------------------
              ; Driver config
              ; ====================
              
              ;          --- Drive map ---
              ; (While looking at the printer top down)
              ;			   B	   A
              ;             0.0-----0.1
              ;              |  0.5  |
              ;              |-------|
              ;              |0.3|0.4|
              ;               ---+---
              ;                Front
              
              ; Smart Drivers
              M569 P0.0 S1 D2 ; driver 0.0 goes forwards (X axis)
              M569 P0.1 S1 D2 ; driver 0.1 goes forwards (Y axis)
              M569 P0.2 S0 D2 ; driver 0.2 goes backwards (extruder 0)
              M569 P0.3 S0 D2 ; driver 0.3 goes backwards (Z axis) (Front Leftt)
              M569 P0.4 S0 D2 ; driver 0.4 goes backwards (Z axis) (Front Right)
              M569 P0.5 S0 D2 ; driver 0.5 goes backwards (Z axis) (Rear Center)
              
              ; Motor Idle Current Reduction
              M906 I30 ; set motor current idle factor
              M84 S30 ; set motor current idle timeout
              
              ; Axes
              M584 X0.0 Y0.1 Z0.3:0.5:0.4 ; set axis mapping (Front Left, Rear Center, Front Right)
              M350 X16 Y16 Z16 I1 ; configure microstepping with interpolation
              M906 X1500 Y1500 Z1200 ; set axis driver currents (xy1300)
              M92 X160 Y160 Z800 ; configure steps per mm
              M208 S1 X13 Y-5 Z0 ; set axis minima
              M208 S0 X350 Y350 Z215 ; set axis maxima
              M566 X720 Y720 Z30 ; set maximum instantaneous speed changes (mm/min) (700)
              M203 X36000 Y36000 Z900 ; set maximum speeds (mm/min) (X9000 Y9000 Z900)
              M201 X6000 Y6000 Z150 ; set accelerations (mm/s^2) (X6000 Y6000)
              
              ; Extruders
              M584 E0.2 ; set extruder mapping
              M350 E16 I1 ; configure microstepping with interpolation
              M906 E1000 ; set extruder driver currents
              M92 E724.1379 ; configure steps per mm
              M566 E120 ; set maximum instantaneous speed changes (mm/min)
              M203 E7200 ; set maximum speeds (mm/min) (3600)
              M201 E2000 ; set accelerations (mm/s^2) (250)
              
              ; Kinematics
              M669 K1 ; configure CoreXY kinematics
              
              ; Bed Level
              M671 X-35:175:390 Y3:420:3 S10;S0.5 ; position of leadscrew/bed pivot point at front left, rear middle and front right
              
              ; Probes
              M558 P5 C"!io3.in" H10 F300 T6000 ; configure digital probe via slot #0
              G31 P500 X0 Y0 Z-0.352 ;-0.269 ;-0.330 ; -0.346 ; -0.345 ; set Z probe trigger value, offset and trigger height
              
              ; Endstops
              M574 X2 P"io4.in" S1 ; configure X axis endstop
              M574 Y2 P"io5.in" S1 ; configure Y axis endstop
              ;M574 Z2 S2 ; configure Z axis endstop
              
              ; Sensors
              M308 S0 P"temp0" Y"thermistor" A"Heated Bed" T100000 B4725 C7.06e-8 ; configure sensor #0
              M308 S1 P"temp1" Y"pt1000" A"Nozzle" ; configure sensor 1 as PT1000 on pin temp1
              M308 S2 P"temp2" Y"thermistor" A"Chamber" T100000 B4725 C7.06e-8    ; configure sensor #2
              
              ; Chamber (Fake)
              M950 H2 C"out4" T2                            ; create a heater, but not actually anything connected to this output
              M141 H2                                       ; set this to be chamber
              M141 S0                                       ; set chamber to 0 - normal dont get too hot temperature
              
              ; Heaters
              M950 H0 C"out0" T0 ; create heater #0
              M143 H0 P0 T0 C0 S140 A0 ; configure heater monitor #0 for heater #0
              M307 H0 R2.43 D5.5 E1.35 K0.56 B0 ; configure model of heater #0
              M950 H1 C"out1" T1 ; create heater #1
              M143 H1 P0 T1 C0 S285 A0 ; configure heater monitor #0 for heater #1
              M307 H1 R2.43 D5.5 E1.35 K0.56 B0 ; configure model of heater #1
              
              ; Heated beds
              M140 P0 H0 ; configure heated bed #0
              
              ; Fans
              M950 F0 C"out2" ; create fan #0
              M106 P0 S0 L0 X1 B0.1 ; configure fan #0
              M950 F1 C"out3" ; create fan #1
              M106 P1 S0 B1.1 H1 T45 ; configure fan #1
              
              M950 F7 C"out7"                        ; create fan #7
              M106 P7 C"Exhaust Fan" S0 L0 X1 B0.1   ; configure fan #7
              M950 F8 C"out8"                        ; create fan #8
              M106 P8 C"Electronics 1" S0 L0 X1 B0.1 ; configure fan #8
              M950 F9 C"out9"                        ; create fan #9
              M106 P9 C"Electronics2" S0 L0 X1 B0.1  ; configure fan #9
              
              ; Mesh Grid
              M557 X15:335 Y15:335 P7                          ; define mesh grid 7x7
              
              ; Accelerometer
              M955 P0 C"spi.cs1+spi.cs0" I56 ; configure accelerometer on board #0
              
              ; Input Shaping
              ;M593 P"MZV" F37.6 S0.0
              
              ; Taper
              M376 H10
              
              ; Pressure Advance
              M572 D0 S0.055 ; 0.04
              
              ; Tools
              M563 P0 S"StealthBurner" D0 H1 F0 ; create tool #0
              M568 P0 R0 S0 ; set initial tool #0 active and standby temperatures to 0C
              
              ; Miscellaneous
              M501
              T0 ; select first tool
              
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              • dc42undefined
                dc42 administrators @NeoDue
                last edited by

                @NeoDue thanks for testing the latest firmware. TBH I wasn't really expecting this latest change to fix bangs and/or layer shifts, because it shouldn't directly affect axis motors. However, the anomalies reported by the "min interval" report in the Move section have disappeared in your latest M122 reports, also the ebfmin value is now zero as expected instead of -1.

                I ran your compete print (without filament) on my bench system, apart from the first few layers which I had previously removed because no anomalies were detected in them. The print completed without incident. I didn't hear any bangs, but I can't say whether there were any layer shifts because the motors were not connected to axes.

                I would love to have a print in which bangs always occur at the same places, because that would give me a chance to replicate the issue. However, the impression I have from the reports in this thread is that the bangs and layer shifts are somewhat random, because they don't consistently occur at the same places in the print. Would you agree?

                Are you still confident that the bangs and layer shifts don't occur when IS is not enabled?

                Duet WiFi hardware designer and firmware engineer
                Please do not ask me for Duet support via PM or email, use the forum
                http://www.escher3d.com, https://miscsolutions.wordpress.com

                NeoDueundefined adrianundefined 2 Replies Last reply Reply Quote 0
                • NeoDueundefined
                  NeoDue @dc42
                  last edited by NeoDue

                  @dc42 said in 3.5.0rc1: Input shaping causes layer shifts!?:

                  I would love to have a print in which bangs always occur at the same places, because that would give me a chance to replicate the issue. However, the impression I have from the reports in this thread is that the bangs and layer shifts are somewhat random, because they don't consistently occur at the same places in the print. Would you agree?
                  Are you still confident that the bangs and layer shifts don't occur when IS is not enabled?

                  Yes, to doublecheck that was the intent behind the test I mentioned in my second post today.

                  The blob I mentioned there seems to reliably be created with IS on even if it is obviously not large enough to create a layer shift every time. The randomness of the layer shifts (edit: except the one at 5.65mm, which seems to be reliable so far!) might indicate that these are created by such blobs as well - there are numerous occurrances of such short moves in the code file.

                  Edit: Maybe one more question...: let's assume my thought above is correct. On the other hand, I am confident that you dug out and eliminated all the issues of the code.
                  Can you think of a setting or a combination of settings that - with the RRF input shaping code working as intended - might be responsible for creating a larger blob with IS enabled for this given gcode snippet than it does with IS off? I am thinking of things like "IS changes Pressure Advance which may have such an effect on very small moves if PA is not 100% correctly calibrated" or such.
                  In addition, I would assume it should be something that does not happen in the Marlin implementation of IS since I did not have any of such issues prior to switching to the Duet.

                  dc42undefined 1 Reply Last reply Reply Quote 0
                  • adrianundefined
                    adrian @dc42
                    last edited by

                    @dc42
                    My layer shifts are in random places and directions. Mine seem like it decides randomly to turn early.

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                    • adrianundefined
                      adrian @dc42
                      last edited by

                      @dc42
                      I would upload my gcode on here but its capped 4mb. Even zipped its 5mb plus.

                      Here is the stl
                      01_K.stl

                      gloomyandyundefined 1 Reply Last reply Reply Quote 0
                      • gloomyandyundefined
                        gloomyandy @adrian
                        last edited by

                        @adrian Can you place the gcode file on a file sharing service and make it available via that?

                        Have you confirmed that if you print the same part with input shaping turned off (and no other changes), that you do not see any layer shifts?

                        adrianundefined 2 Replies Last reply Reply Quote 0
                        • dc42undefined
                          dc42 administrators @NeoDue
                          last edited by dc42

                          @NeoDue I would like to check whether extrusion issues (blobs and similar) are responsible for the layer shifts or not. This is what I propose:

                          • Adapt the attached macro for your machine and test it. It measures where the homing switches are found and compares this with where they should be. It doesn't seem to work very well when using stall homing, but I am hopeful that it will work fairly well on a machine with real homing switches.
                          • Edit your print file if necessary to remove any homing command at the end
                          • Remove the filaments from your machine
                          • Home the printer and run this macro to check it is working as expected
                          • Disable your filament monitors (M591 D0 S0 M591 D1 S0)
                          • Run the print like that, using your usual IS and PA parameters that provoke layer shifts
                          • When it has finished, make sure that the print head is clear of the print, then run this macro again to check whether either X or Y has shifted.

                          AxisShiftCheck.g

                          Duet WiFi hardware designer and firmware engineer
                          Please do not ask me for Duet support via PM or email, use the forum
                          http://www.escher3d.com, https://miscsolutions.wordpress.com

                          NeoDueundefined 5 Replies Last reply Reply Quote 0
                          • adrianundefined
                            adrian @gloomyandy
                            last edited by

                            @gloomyandy
                            I’ll work on getting that code shared out.

                            It works fine without IS on.

                            dc42undefined 1 Reply Last reply Reply Quote 0
                            • dc42undefined
                              dc42 administrators @adrian
                              last edited by

                              @adrian please can you do the same test that just asked NeoDue to do, i.e. run the same print without filament and use the macro to see whether either X or Y has shiftted.

                              Duet WiFi hardware designer and firmware engineer
                              Please do not ask me for Duet support via PM or email, use the forum
                              http://www.escher3d.com, https://miscsolutions.wordpress.com

                              1 Reply Last reply Reply Quote 0
                              • adrianundefined
                                adrian @gloomyandy
                                last edited by

                                @gloomyandy
                                gcode:
                                https://fastupload.io/K2qmozelOP3eK4A/file

                                1 Reply Last reply Reply Quote 1
                                • NeoDueundefined
                                  NeoDue @dc42
                                  last edited by NeoDue

                                  @dc42 thanks! I have rewritten the file to save its data in a file:

                                  ; Parameters to control motion to sense endstops. Copy these from the homing files.
                                  var xHomingSpeed = 500
                                  var yHomingSpeed = 320
                                  ; uncomment and set current if stall homing is used
                                  ;var xHomingCurrentPercent = 25
                                  ;var yHomingCurrentPercent = 25
                                  
                                  
                                  T0 ; activate correct Tool - the one on the X axis
                                  
                                  G91                      ; relative positioning
                                  G1 Z5 F360               ; get some distance between nozzle and bed / part
                                  G90                      ; absolute positioning
                                  
                                  ; Go to bed centre
                                  G1 X{(move.axes[0].max + move.axes[0].min)/2} Y{(move.axes[1].max + move.axes[1].min)/2} F3000
                                  
                                  ; Reduce currents in case we are using stall homing - uncomment if stall homing is used
                                  ; M913 X{var.xHomingCurrentPercent} Y{var.yHomingCurrentPercent}
                                  
                                  M400
                                  
                                  ; Check Y axis
                                  if sensors.endstops[1].highEnd
                                    G1 H4 Y{move.axes[1].max+20} F{var.yHomingSpeed}
                                    echo >>"axisshiftcheck_results.txt" "Y homing error was "^{move.axes[1].machinePosition - move.axes[1].max}^""
                                    echo "Y homing error was", move.axes[1].machinePosition - move.axes[1].max
                                    G1 Y{move.axes[1].max-20}
                                  else
                                    G1 H4 Y{move.axes[1].min-20} F{var.yHomingSpeed}
                                    echo >>"axisshiftcheck_results.txt" "Y homing error was "^{move.axes[1].machinePosition - move.axes[1].min}^""
                                    echo "Y homing error was", move.axes[1].machinePosition - move.axes[1].min
                                    G1 Y{move.axes[1].min+20}
                                  
                                  ; Check X axis
                                  if sensors.endstops[0].highEnd
                                    G1 H4 X{move.axes[0].max+20} F{var.xHomingSpeed}
                                    echo >>"axisshiftcheck_results.txt" "X homing error was "^{move.axes[0].machinePosition - move.axes[0].max}^""
                                    echo "X homing error was", move.axes[0].machinePosition - move.axes[0].max
                                    G1 X{move.axes[0].max-20}
                                  else
                                    G1 H4 X{move.axes[0].min-20} F{var.xHomingSpeed}
                                    echo >>"axisshiftcheck_results.txt" "X homing error was "^{move.axes[0].machinePosition - move.axes[0].min}^""
                                    echo "X homing error was", move.axes[0].machinePosition - move.axes[0].min
                                    G1 X{move.axes[0].min+20}
                                  
                                  ; Restore motor current
                                  M400
                                  M913 X100 Y100
                                  M400
                                  
                                  G91                      ; relative positioning
                                  G1 Z-5 F360              ; move bed back to where it was
                                  G90                      ; absolute positioning
                                  

                                  ... and have added an M98 command into the appropriate places of the print file. I will let that run tonight.

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                                  • NeoDueundefined
                                    NeoDue @dc42
                                    last edited by NeoDue

                                    @dc42 1st attempt:

                                    Y homing error was 0.000
                                    X homing error was 0.012
                                    Y homing error was -0.012
                                    X homing error was -0.012
                                    

                                    Those offsets are within the tolerance of the endstops...

                                    I will repeat the test once or twice tomorrow, but it seems it is indeed caused by the filament.

                                    Edit: the printer had likely IS disabled in this test, please ignore it.

                                    1 Reply Last reply Reply Quote 2
                                    • NeoDueundefined
                                      NeoDue @dc42
                                      last edited by

                                      @dc42 test prints will follow tomorrow. I finished two test runs this evening - only to find out I accidentially verified that there is no issue when IS is disabled... 🙄

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                                      • dc42undefined
                                        dc42 administrators @NeoDue
                                        last edited by

                                        @NeoDue said in 3.5.0rc1: Input shaping causes layer shifts!?:

                                        Edit: In case it matters: the "test-blob" I found occurs on layer 2, 4 and 6 in the middle of the last line of the solid infill of my test part. Prusaslicer decided in its wisdom to split this line into two long pieces which are connected by two very short ones. This is the gcode that causes the blob:

                                        ; (tool position before this snippet begins: X-7.877 Y28.826)
                                        G1 X-7.823 Y28.723 E.00266
                                        G1 X-7.815 Y-7.037 E.75823
                                        G1 X-7.867 Y-7.142 E.00277
                                        G1 X-7.919 Y-7.246 E.00303
                                        G1 X-7.922 Y-42.252 E.91196

                                        Thanks, that's useful information. I will investigate what is happening there.

                                        Duet WiFi hardware designer and firmware engineer
                                        Please do not ask me for Duet support via PM or email, use the forum
                                        http://www.escher3d.com, https://miscsolutions.wordpress.com

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                                        • NeoDueundefined
                                          NeoDue @dc42
                                          last edited by NeoDue

                                          @dc42 Okay, here is the full set of tests, three with IS off and three with IS on - it is nothing extruder related after all 😮

                                          test 1 (IS most likely off)
                                          Y homing error was 0.000
                                          X homing error was 0.012
                                          Y homing error was -0.012
                                          X homing error was -0.012
                                          
                                          test 2 (IS off)
                                          Y homing error was 0.000
                                          X homing error was 0.012
                                          Y homing error was -0.012
                                          X homing error was -0.012
                                          
                                          test 3 (IS off)
                                          Y homing error was -0.012
                                          X homing error was 0.000
                                          Y homing error was -0.012
                                          X homing error was 0.000
                                          
                                          test 4 (IS on)
                                          Y homing error was 0.000
                                          X homing error was 0.012
                                          Y homing error was -0.012
                                          X homing error was -0.788
                                          
                                          test 5 (IS on)
                                          Y homing error was -0.012
                                          X homing error was 0.000
                                          Y homing error was -0.012
                                          X homing error was -0.012
                                          
                                          test 6 (IS on)
                                          Y homing error was -0.012
                                          X homing error was 0.000
                                          Y homing error was -1.613
                                          X homing error was -3.188
                                          

                                          That means something still must be wrong with Input shaping... but what?

                                          And one more thing puzzles me: the offsets measured here are quite a bit lower than the amount of layer shifts I get if I print the real part.
                                          The only logical reason I can think of that might cause this would be that... something... related to Input Shaping causes a significant temporary loss of torque in the steppers which causes them to loose some steps in free air, but also causes them to be more vulnerable against the slightly larger blobs which then result in more lost steps? The EMF calculator says the stepper configuration is okay. I had doublechecked that when I saw increasing motor currents did tendencially rather in- than decrease the layer shift occurrances...

                                          oliofundefined 1 Reply Last reply Reply Quote 0
                                          • oliofundefined
                                            oliof @NeoDue
                                            last edited by

                                            @NeoDue what IS algo are you using? I haven't tested thoroughly yet but I feel ZVDD may cause more issues than MZV.

                                            <>RatRig V-Minion Fly Super5Pro RRF<> V-Core 3.1 IDEX k*****r <> RatRig V-Minion SKR 2 Marlin<>

                                            NeoDueundefined 1 Reply Last reply Reply Quote 0
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