M23cl config issues

kcorbedsellig

I couldn't find much on this subject yet on this forum (or elsewhere online). I purchased some M23CL steppers without breaks but can't seem to get them configured.

I'm following the following instructions:
https://docs.duet3d.com/Duet3D_hardware/Duet_3_family/Duet_3_Motor_23CL

Innitial connection and change of adress went fine without issues. However I'm having issues getting them callibrated or moving at all after.

I'm supplying 48V to them both from a seperate power supply with common ground connected between all supplies in use. (one for each M23CL and one for the main board)

When calling the M23CL with:

M115 B71

I get the following reply:

M115 B71
Duet M23CL firmware version 3.5.0-rc.1+ (2023-10-26 09:24:34)

And the same for the other M23CL with the adres 72.

When trying to callibrate with:

M569.6 P71.0 V2

I get the following error:

Error: M569.6: Driver is not enabled

And with:

M569.6 P71.0 V3

I get the same error.

I've tried to run this without having anything in the config file related to them but it does not seem to make a difference. When I try to add a third one and configure it under the adress 73 everything responds the same.

When I restart my board I get the following error for both M23CL's

Warning: Driver 71.0 stall

Config file:

; executed by the firmware on start-up

G4 S2                           ;wait for expansion boards to start

; General preferences
G90                             ; send absolute coordinates...
M83                             ; ...but relative extruder moves
M550 P"conveyor"                ; set printer name
M669 K0                         ; printer mode



M569.1 P71.0 T3 E2:4 R100 I0 D0 ; Configure the M23CL at CAN address 71
M569.1 P72.0 T3 E2:4 R100 I0 D0 ; Configure the M23CL at CAN address 72
M569 P71.0 D4 S1 ; Set into closed-loop drive mode (D4) and not reversed (S1)
M569 P72.0 D4 S1 ; Set into closed-loop drive mode (D4) and not reversed (S1)
M584 X71.0 Y72.0 ; set X and Y drivers

M350 X32 Y32 ; set steps/mm to 32 for open loop mode operation
M92 X160 Y160 ; steps/mm for a 20 tooth gt2 pulley for open loop operation

M112:

M122
=== Diagnostics ===
RepRapFirmware for Duet 3 MB6HC version 3.4.1 (2022-06-01 21:09:01) running on Duet 3 MB6HC v1.01 or later (SBC mode)
Board ID: 08DJM-956BA-NA3TJ-6J9D4-3S46N-KB8AS
Used output buffers: 1 of 40 (12 max)
=== RTOS ===
Static ram: 151000
Dynamic ram: 64316 of which 0 recycled
Never used RAM 135356, free system stack 200 words
Tasks: SBC(resourceWait:,0.5%,496) HEAT(notifyWait,0.0%,371) Move(notifyWait,0.0%,352) CanReceiv(notifyWait,0.0%,797) CanSender(notifyWait,0.0%,374) CanClock(delaying,0.0%,339) TMC(notifyWait,7.5%,92) MAIN(running,91.9%,923) IDLE(ready,0.1%,30), total 100.0%
Owned mutexes: HTTP(MAIN)
=== Platform ===
Last reset 00:07:59 ago, cause: software
Last software reset at 2024-04-01 14:08, reason: User, none spinning, available RAM 135356, slot 1
Software reset code 0x0012 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x00400000 BFAR 0x00000000 SP 0x00000000 Task SBC Freestk 0 n/a
Error status: 0x00
Step timer max interval 153
MCU temperature: min 32.1, current 32.2, max 32.7
Supply voltage: min 32.0, current 32.0, max 32.1, under voltage events: 0, over voltage events: 0, power good: yes
12V rail voltage: min 11.9, current 11.9, max 12.0, under voltage events: 0
Heap OK, handles allocated/used 0/0, heap memory allocated/used/recyclable 0/0/0, gc cycles 0
Events: 2 queued, 2 completed
Driver 0: standstill, SG min 0, mspos 8, reads 605, writes 11 timeouts 0
Driver 1: standstill, SG min 0, mspos 8, reads 605, writes 11 timeouts 0
Driver 2: standstill, SG min 0, mspos 8, reads 605, writes 11 timeouts 0
Driver 3: standstill, SG min 0, mspos 8, reads 605, writes 11 timeouts 0
Driver 4: standstill, SG min 0, mspos 8, reads 605, writes 11 timeouts 0
Driver 5: standstill, SG min 0, mspos 8, reads 606, writes 11 timeouts 0
Date/time: 2024-04-01 14:16:02
Slowest loop: 1.26ms; fastest: 0.04ms
=== Storage ===
Free file entries: 10
SD card 0 not detected, interface speed: 37.5MBytes/sec
SD card longest read time 0.0ms, write time 0.0ms, max retries 0
=== Move ===
DMs created 125, segments created 0, maxWait 0ms, bed compensation in use: none, comp offset 0.000
=== MainDDARing ===
Scheduled moves 0, completed 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== AuxDDARing ===
Scheduled moves 0, completed 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== Heat ===
Bed heaters -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1, chamber heaters -1 -1 -1 -1, ordering errs 0
=== GCodes ===
Segments left: 0
Movement lock held by null
HTTP* is doing "M122" 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
Aux2 is idle in state(s) 0
Autopause is idle in state(s) 0
Code queue is empty
=== CAN ===
Messages queued 2410, received 7673, lost 0, boc 0
Longest wait 56ms for reply type 6041, peak Tx sync delay 6, free buffers 50 (min 49), ts 2397/2396/0
Tx timeouts 0,0,0,0,0,0
=== SBC interface ===
Transfer state: 5, failed transfers: 0, checksum errors: 0
RX/TX seq numbers: 18722/18722
SPI underruns 0, overruns 0
State: 5, disconnects: 0, timeouts: 0 total, 0 by SBC, IAP RAM available 0x2b880
Buffer RX/TX: 0/0-0, open files: 0
=== Duet Control Server ===
Duet Control Server version 3.5.0-rc.3 (2024-01-26 12:34:19)
Code buffer space: 4096
Configured SPI speed: 8000000Hz, TfrRdy pin glitches: 0
Full transfers per second: 39.59, max time between full transfers: 40.5ms, max pin wait times: 38.0ms/1.2ms
Codes per second: 0.03
Maximum length of RX/TX data transfers: 3136/484

For as far as I know my system is on the highest version of everything installed through SSH:

Duet 3 MB6HC	                MB6HC	3.4.1
Duet 3 Expansion M23CL	M23CL	3.5.0-rc.1+
Duet 3 Expansion M23CL	M23CL	3.5.0-rc.1+
Duet Software Framework	DSF	        3.5.0-rc.3
Duet Web Control	        DWC	3.5.0-rc.3

Any help would be greatly apreciated.

Best, Gilles

jay_s_uk

@GillesDB you need to update your mainboard to at least 3.5 rc1

kcorbedsellig

@jay_s_uk Thanks for your response. I was under the impression that I was running the latest after updating using these steps.
https://docs.duet3d.com/User_manual/Machine_configuration/DSF_RPi#software-installation

I'll run this again to see if it makes a difference.

Phaedrux

@GillesDB said in M23cl config issues:

RepRapFirmware for Duet 3 MB6HC version 3.4.1

You're not even up to date on the stable branch (3.4.6).

You'd need to switch the Pi to the unstable branch to get 3.5 RC3

https://docs.duet3d.com/User_manual/Machine_configuration/DSF_RPi#switch-to-unstable-packages

kcorbedsellig

@Phaedrux Thanks, I'm sure this will do the trick.

kcorbedsellig

@Phaedrux @jay_s_uk
I believe I've successfully upgraded the firmware:

Product	Short Name	Version
Duet 3 MB6HC	MB6HC	3.5.0-rc.3
Duet 3 Expansion M23CL	M23CL	3.5.0-rc.1+
Duet 3 Expansion M23CL	M23CL	3.5.0-rc.1+
Duet 3 Expansion M23CL	M23CL	3.5.0-rc.1+
Duet 3 Expansion M23CL	M23CL	3.5.0-rc.1+
Duet Software Framework	DSF	3.5.0-rc.3
Duet Web Control	DWC	3.5.0-rc.3

However, I'm getting the same results as before. I've added one fresh from the box under a new address to verify and it also gives the same errors.

When I run the following config:

; executed by the firmware on start-up

G4 S2                           ;wait for expansion boards to start

; General preferences
G90                             ; send absolute coordinates...
M83                             ; ...but relative extruder moves
M550 P"conveyor"                ; set printer name
M669 K0                         ; printer mode

M569.1 P71.0 T3 E2:4 R100 I0 D0 ; Configure the M23CL at CAN address 70
M569.1 P72.0 T3 E2:4 R100 I0 D0 ; Configure the M23CL at CAN address 71
M569 P71.0 D4 S1 ; Set into closed-loop drive mode (D4) and not reversed (S1)
M569 P72.0 D4 S1 ; Set into closed-loop drive mode (D4) and not reversed (S1)
M584 X71.0 Y72.0 ; set X and Y drivers

M350 X32 Y32 ; set steps/mm to 32 for open loop mode operation
M92 X160 Y160 ; steps/mm for a 20 tooth gt2 pulley for open loop operation

The error is:

M569.6 P71.0 V2
Error: M569.6: Driver is not enabled

And without any config for the M23CL's.
config:

; executed by the firmware on start-up

G4 S2                           ;wait for expansion boards to start

; General preferences
G90                             ; send absolute coordinates...
M83                             ; ...but relative extruder moves
M550 P"conveyor"                ; set printer name
M669 K0                         ; printer mode

Error:

M569.6 P73.0 V2
Error: M569.6: no encoder configured

For as far as I can tell the M23CL's can't be updated to run RC.3 based on the following feedback from terminal.

pi@conveyor:~ $ sudo rm -f /etc/apt/sources.list.d/duet3d.list
pi@conveyor:~ $ sudo bash -c "echo 'deb https://pkg.duet3d.com/ unstable armv7' > /etc/apt/sources.list.d/duet3d-unstable.list"
pi@conveyor:~ $ sudo apt update
Hit:1 http://archive.raspberrypi.org/debian buster InRelease
Hit:2 http://raspbian.raspberrypi.org/raspbian buster InRelease         
Hit:3 https://pkg.duet3d.com unstable InRelease                         
Reading package lists... Done                     
Building dependency tree       
Reading state information... Done
All packages are up to date.
pi@conveyor:~ $ sudo apt dist-upgrade
Reading package lists... Done
Building dependency tree       
Reading state information... Done
Calculating upgrade... Done
0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.
pi@conveyor:~ $

Any help would be greatly appreciated.

droftarts

@GillesDB What is reported when you send M122 B71? Please post the full response.

To update the motors to rc3, make sure the "Duet3Firmware_M23CL.bin" from https://github.com/Duet3D/RepRapFirmware/releases/tag/3.5.0-rc.3 is uploaded. If it doesn't prompt to update when uploaded, send M997 B71, and repeat for the CAN addresses of the other motors.

I'm not sure if there is an order dependency for the M569.1 commands. They may need to go after the M569 commands.

Ian

kcorbedsellig

@droftarts Thank you for your reply.

Here is the full reply on "M122 B73" before attempting to update through the bin file you linked to.

M122 B73
Diagnostics for board 73:
Duet M23CL firmware version 3.5.0-rc.1+ (2023-10-26 09:24:34)
Bootloader ID: SAME5x bootloader version 2.8 (2023-07-25)
All averaging filters OK
Never used RAM 75428, free system stack 186 words
Tasks: Move(3,nWait,0.0%,182) CLSend(3,nWait,0.0%,150) HEAT(2,nWait,0.0%,120) CanAsync(5,nWait,0.0%,67) CanRecv(3,nWait,0.0%,80) CanClock(5,nWait,0.0%,70) TMC(2,nWait,20.2%,359) MAIN(1,running,77.5%,399) IDLE(0,ready,0.0%,40) AIN(2,nWait,2.2%,265), total 100.0%
Last reset 00:05:14 ago, cause: power up
Last software reset data not available
Driver 0: pos 0, 80.0 steps/mm, standstill, SG min 0, mspos 8, reads 63748, writes 12 timeouts 0, steps req 0 done 0
Moves scheduled 0, completed 0, in progress 0, hiccups 0, segs 0, step errors 0, maxPrep 0, maxOverdue 0, maxInc 0, mcErrs 0, gcmErrs 0, ebfmin 0.00 max 0.00
Peak sync jitter -7/3, peak Rx sync delay 184, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4059135798 ticks, disabled
VIN voltage: min 48.2, current 48.2, max 48.2
V12 voltage: min 12.0, current 12.0, max 12.0
MCU temperature: min 20.1C, current 23.6C, max 23.6C
Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 2535, send timeouts 0, received 1581, lost 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, bm 0, wbm 0, rxMotionDelay 0
Closed loop driver 0 mode: open loop, pre-error threshold: 2.00, error threshold: 4.00, encoder type none

I downloaded the M23CL bin file and uploaded it in the system files which prompted an update on the M23CL that was connected at that time. It seems succesfull and displays in the machine specific info:

Electronics
 Diagnostics
Product	Short Name	Version
Duet 3 MB6HC	MB6HC	3.5.0-rc.3
Duet 3 Expansion M23CL	M23CL	3.5.0-rc.3
Duet Software Framework	DSF	3.5.0-rc.3
Duet Web Control	DWC	3.5.0-rc.3

For M23CL with CAN 73.0 which is not configured at all in the config file it still reads:

M569.6 P73.0 V2
Error: M569.6: no encoder configured

After reconnecting and updating 71.0 and 72.0 and running them with the same config file as before which was taken from the example in the documentation. I get popups in the DWC that say:
"Event notification
Driver 71.0 error: failed to maintain position"
And the same for 72.0

Upon trying to initiate the config for the M23CL I still get the same error:

M569.6 P71.0 V2
Error: M569.6: Driver is not enabled

Here is the full reply on M112 B71.0 after updating.

M122 B71.0
Diagnostics for board 71:
Duet M23CL firmware version 3.5.0-rc.3 (2024-01-24 17:54:18)
Bootloader ID: SAME5x bootloader version 2.8 (2023-07-25)
All averaging filters OK
Never used RAM 45192, free system stack 186 words
Tasks: EncCal(1,nWait 6,0.0%,470) Move(3,nWait 7,0.0%,166) CLSend(3,nWait 6,0.0%,148) HEAT(2,nWait 6,0.1%,108) CanAsync(5,nWait 4,0.0%,67) CanRecv(3,nWait 1,0.0%,66) CanClock(5,nWait 1,0.0%,65) TMC(4,nWait 6,70.0%,326) MAIN(1,running,25.2%,266) IDLE(0,ready,0.0%,30) AIN(2,nWait 2,4.7%,255), total 100.0%
Owned mutexes:
Last reset 00:04:19 ago, cause: software
Last software reset data not available
Driver 0: pos 0, 160.0 steps/mm, failed to maintain position, SG min n/a, mspos 4, reads 14047, writes 31123 timeouts 0, steps req 0 done 0
Moves scheduled 0, completed 0, in progress 0, hiccups 0, segs 0, step errors 0, maxLate 0 maxPrep 0, maxOverdue 0, maxInc 0, mcErrs 0, gcmErrs 0, ebfmin 0.00 max 0.00
Peak sync jitter -6/3, peak Rx sync delay 190, resyncs 0/0, no timer interrupt scheduled
VIN voltage: min 48.0, current 48.0, max 48.0
V12 voltage: min 12.0, current 12.0, max 12.0
MCU temperature: min 20.2C, current 21.1C, max 21.1C
Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 2100, send timeouts 0, received 1311, lost 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, bm 0, wbm 0, rxMotionDelay 0
Closed loop driver 0 mode: closed loop, pre-error threshold: 2.00, error threshold: 4.00, encoder type rotaryAS5047, position 1955
Encoder reverse polarity: no, full rotations 0, last angle 1957, minCorrection=-12.6, maxCorrection=18.3, agc 62, mag 4757, no error
Tuning mode: 0, tuning error: 0, collecting data: no
Control loop runtime (us): min=4, max=66, frequency (Hz): min=8928, max=14150

Since as in the example they are configured as X and Y it tried sending:

M564 H0

In order to move them without homing from the DWC. This allows me to move X and Y from the dashboard. When I do this I can see their location update in the status as well as it going from "idle" to "busy" but no movement in the steppers.

The whole system seems to be running the latest versions of firmware but the errors have not changed. I've followed all the steps from the documentation as far as I can tell but no success.

Not sure how to proceed from here, any help as always would be greatly appreciated. I'm most likely making a stupid mistake somewhere but the big question is where.

dc42

@GillesDB some of the errors you were seeing are likely because you updated the firmware on the M23CL motors but didn't restart the main board.

To avoid the "Driver not enabled" message when you send M569.6, do the following:

Map an axis motor to the driver using M584. You are probably doing this already in config.g; if not then you can temporarily map an axis to it. For example, if you don't already have a U axis you can send: M584 U71.0
Enable that axis motor using M17. For example: M17 U

Note, you only need to run M569.6 once on each M23CL, and you should run it with the motor loaded only lightly; so preferably disconnect the belts.

Regards David

kcorbedsellig

@dc42 Hey David, thank you for your reply.

I'm working on a test setup, there is no load on any of the steppers and the config file is empty except for the bare minimum and whatever it told me to add in the documentation.

I've just added 70.0 with an almost empty config as you described and when I run "M564 H0" I can indeed move the stepper which is a first. However when I try to run the M569.6 command it still gives me an error. I'm aware I only have to run it once but can't seem to get it working.

08/04/2024, 14:43:52	M569.6 P70.0 V2
Error: M569.6: no encoder configured
08/04/2024, 14:43:16	M17 U
08/04/2024, 14:43:04	M584 U70.0
08/04/2024, 14:42:40	Connection established

I then shut down and connected 70.0 and 71.0 and ran the config settings as in the documentation.

Config:

G4 S2                           ;wait for expansion boards to start

; General preferences
G90                             ; send absolute coordinates...
M83                             ; ...but relative extruder moves
M550 P"conveyor"                ; set printer name
M669 K0                         ; printer mode

 
M569.1 P70.0 T3 E2:4 R100 I0 D0 ; Configure the M23CL at CAN address 70
M569.1 P71.0 T3 E2:4 R100 I0 D0 ; Configure the M23CL at CAN address 71
M569 P70.0 D4 S1 ; Set into closed-loop drive mode (D4) and not reversed (S1)
M569 P71.0 D4 S1 ; Set into closed-loop drive mode (D4) and not reversed (S1)
M584 X70.0 Y71.0 ; set X and Y drivers

M350 X32 Y32 ; set steps/mm to 32 for open loop mode operation
M92 X160 Y160 ; steps/mm for a 20 tooth gt2 pulley for open loop operation

And I get new errors on both.
console:

08/04/2024, 15:41:18	Warning: Driver 71.0 warning: failed to maintain position, tuning/calibration failed
08/04/2024, 15:41:18	M569.6 P71.0 V2
Error: M569.6: Driver 71.0 calibration failed, the measured motion was less than expected, measured counts/step is about 0.0
08/04/2024, 15:40:40	Warning: Driver 70.0 warning: tuning/calibration failed
08/04/2024, 15:40:40	M569.6 P70.0 V2
Error: M569.6: Driver 70.0 calibration failed, the measured motion was less than expected, measured counts/step is about 0.0
08/04/2024, 15:40:11	M17
08/04/2024, 15:39:01	Connection established

With these config settings, I can no longer get the steppers to move either.

Another strange thing is also that I get an error as a popup for 71.0 but not for 70.0 even though they have the same settings upon startup.

Event notification
Driver 71.0 error: failed to maintain position```
code_text

Currently, 70.0 is one I ordered earlier and 71.0 is from a later batch that shipped directly from China. The older serial starts with 2311 and the newer ones start with 2403.

Could this have something to do with how I wired them or would they not respond well to M115 in that case either?

dc42

@GillesDB your main board appears to be running firmware version 3.4.1 which is not compatible with the M23CL. Please upgrade to firmware 3.5.0-rc.4 throughout. As you are running in SBC mode, you will need to switch your Duet3D package feed to the unstable feed.

kcorbedsellig

I've finally gotten everything to work.

The issue all along must have been the star-shaped configuration of cables I had for the Can signal. The system had one distribution block and 2m cables to the steppers. As soon as I changed this to one 2m cable followed by t splitters, 30cm cables and a 120-ohm resistor at the end everything started working as expected.

Thanks for all the help and sorry for wasting your time.

dc42

@GillesDB I'm glad you got it working.