ODrive S1 + Duet3 XD

ELAD

I would appreciate any guidelines regarding wiring and configuring Duet3 XD v1.0 to work with Odrive S1.

The S1 is fully configured and the motor spins to commands sent through the Odrive web GUI.
Any reference or information regarding wiring (dir, step) and config.g changes would be highly appreciated.
If any further info is required, please let me know.
https://docs.odriverobotics.com/v/latest/hardware/s1-datasheet.html

; General preferences
G4 S2
M575 P1 S1 B57600														; enable support for PanelDue
G90																		; absolute coordinates
M83																		; relative extruder moves
M550 P"ShlomitO"															; printer name
;M404 N1.75																; filament diameter
;
; Network

M552 S1														; enable network and acquire dynamic address via DHCP
M586 P0 S1																; enable HTTP
M586 P1 S0																; disable FTP
M586 P2 S0																; disable Telnet
;
; Drives
; 24V
M569 P0.0  S1															; physical drive 0.0 Duet3-6HC Z left front
M584 X0.0		; set drive mapping	
M350 X16 I0									    					; configure microstepping with interpolation
M92 X100.00								; set steps per mm
M566 X900.00 P1 								; set maximum instantaneous speed changes (mm/min)
M203 X9000000.00								; set maximum speeds (mm/min)
M201 X900000.00 							; set accelerations (mm/s^2)
;M204 T2000 P2000														; set accelerations (mm/s^2)
;M906 X2200 Y4000 E1000 I19												; set motor currents (mA) and motor idle factor in per cent
M564 H0 S0
M84

M122
=== Diagnostics ===
RepRapFirmware for Duet 3 MB6XD version 3.5.1 (2024-04-19 14:39:48) running on Duet 3 MB6XD v1.0 (standalone mode)
Board ID: 08DLM-956DA-M24S4-7J9F0-3S46N-1VLUS
Used output buffers: 1 of 40 (18 max)
=== RTOS ===
Static ram: 153624
Dynamic ram: 117604 of which 0 recycled
Never used RAM 74764, free system stack 198 words
Tasks: NETWORK(1,ready,32.8%,183) ETHERNET(5,nWait 7,0.1%,121) HEAT(3,nWait 6,0.0%,368) Move(4,nWait 6,0.0%,335) CanReceiv(6,nWait 1,0.0%,940) CanSender(5,nWait 7,0.0%,334) CanClock(7,delaying,0.0%,338) MAIN(1,running,66.9%,444) IDLE(0,ready,0.1%,30), total 100.0%
Owned mutexes:
=== Platform ===
Last reset 00:02:59 ago, cause: software
Last software reset at 2024-04-21 18:48, reason: User, Gcodes spinning, available RAM 106724, slot 1
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 39.2, current 40.7, max 40.9
Supply voltage: min 23.8, current 23.9, max 23.9, under voltage events: 0, over voltage events: 0, power good: yes
12V rail voltage: min 12.1, current 12.2, max 12.3, under voltage events: 0
Heap OK, handles allocated/used 0/0, heap memory allocated/used/recyclable 0/0/0, gc cycles 0
Events: 0 queued, 0 completed
Driver 0: ok
Driver 1: ok
Driver 2: ok
Driver 3: ok
Driver 4: ok
Driver 5: ok
Date/time: 2024-04-21 19:48:10
Slowest loop: 9.48ms; fastest: 0.07ms
=== Storage ===
Free file entries: 20
SD card 0 detected, interface speed: 25.0MBytes/sec
SD card longest read time 2.4ms, write time 0.0ms, max retries 0
=== Move ===
DMs created 125, segments created 0, maxWait 0ms, bed compensation in use: none, height map offset 0.000, max steps late 0, min interval 0, bad calcs 0, ebfmin 0.00, ebfmax 0.00
no step interrupt scheduled
Moves shaped first try 0, on retry 0, too short 0, wrong shape 0, maybepossible 0
=== DDARing 0 ===
Scheduled moves 0, completed 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], 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 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1, chamber heaters -1 -1 -1 -1, ordering errs 0
=== 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) 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
File2 is idle in state(s) 0
Queue2 is idle in state(s) 0
Q0 segments left 0, axes/extruders owned 0x0000000
Code queue 0 is empty
Q1 segments left 0, axes/extruders owned 0x0000000
Code queue 1 is empty
=== CAN ===
Messages queued 896, received 0, lost 0, errs 847194, boc 0
Longest wait 0ms for reply type 0, peak Tx sync delay 0, free buffers 50 (min 50), ts 896/0/0
Tx timeouts 0,0,895,0,0,0 last cancelled message type 30 dest 127
=== Network ===
Slowest loop: 9.37ms; fastest: 0.03ms
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: active
Error counts: 0 0 0 0 0 0
Socket states: 5 2 2 2 2 0 0 0
=== Multicast handler ===
Responder is inactive, messages received 0, responses 0

ELAD

Should the wiring be the same as for an external stepper driver, like in the following photos?
photos

T3P3Tony

@ELAD have you got a diagram of how you wired the output from the 6Xd to the input of the Odrive.

this may be an issue with enable polarity, try the jumper in the other position.

ELAD

Hi Tony,

I will try to move the jumper later today. Thank you.
Here is my current wiring:
s1_pinout+duet.jpg
5V - 9
STEP - 12
DIR - 11
EN - 8
ERR - Disconnected for now
GND - 10

S1 Datasheet

There is no parallel connection between the pins like it should be done for an external stepper driver. I've connected each one to the corresponding port on the Odrive S1. Is it might be the issue?

flopes

@ELAD . Is it working properly? I am designing a laser cutter with the ODRIVEs. Please let me know