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    [FW 3.5.2] M569.2 and microstepping lookup table

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    • leoneundefined
      leone @dc42
      last edited by

      @dc42 thank you for the clarification and the suggestion. Unfortunately I get some errors with some hex values:

      M569.2 P10.0 R97 V{0xA5292492}
      Error:  at column 32: M569: expected non-negative integer
      

      and if I echo the string, I get a decimal number which is different from a conversion I've done with a calculator (0xA5292492 --> 2770936978).

      echo {0xA5292492}
      2770937088.0
      
      echo V{0x44888888}
      1149798536
      

      Can you replicate this behaviour?

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      • leoneundefined
        leone @droftarts
        last edited by

        hi @droftarts, I confirm that if I read a readable registry (e.g. M569.2 P10.0 R106) the command works.

        What I see now, is that for some hex values, the command doesn't work because the value I'm passing is converted to a floating point.

        M569.2 P10.0 R97 V{0xA5292492}
        Error: at column 32: M569: expected non-negative integer

        echo {0xA5292492}
        2770937088.0

        also, this number is different from a conversion I've done with a calculator (0xA5292492 --> 2770936978).

        The following value it seems to be ok.
        echo V{0x44888888}
        1149798536

        Why do you think the conversion is generating a floating point number?

        droftartsundefined dc42undefined 3 Replies Last reply Reply Quote 0
        • droftartsundefined
          droftarts administrators @leone
          last edited by

          @leone @dc42 will need to have a look at that. I've forwarded to him.

          Ian

          Bed-slinger - Mini5+ WiFi/1LC | RRP Fisher v1 - D2 WiFi | Polargraph - D2 WiFi | TronXY X5S - 6HC/Roto | CNC router - 6HC | Tractus3D T1250 - D2 Eth

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          • dc42undefined
            dc42 administrators @leone
            last edited by

            @leone please try the firmware build at https://www.dropbox.com/scl/fo/42aeqn7cndtkwe36nwkig/APkS2re8b3ROZZu0Z2NggxA?rlkey=z704mbv9kd3o6t67i857nhtl1&dl=0 and see if that fixes it.

            Caution: although this build reports itself as 3.5.3-rc.1 the final 3.5.3-rc.1 build we release may be different.

            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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            • dc42undefined
              dc42 administrators @leone
              last edited by

              @leone this issue is probably fixed in RRF 3.5.3-rc.1 released yesterday.

              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

              leoneundefined 1 Reply Last reply Reply Quote 0
              • leoneundefined
                leone @dc42
                last edited by

                @dc42 thank you for having looked into that, the conversion now works.
                Unfortunately, the behavior of the motors after changing the lookup table is still not the same as with the TMCL-IDE.

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

                  @leone did you change the hysteresis values to the ones given by the TMC IDE too?

                  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

                  leoneundefined 1 Reply Last reply Reply Quote 0
                  • leoneundefined
                    leone @dc42
                    last edited by

                    @dc42 yes, I set the driver parameters as in the TMCL-IDE (I copied the contend of the register 0x6C with M569.2).
                    I am using a custom board, I will check over the next few days if there is interference in the output of the TMC5160 distorting the signal going to the motor.

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                    • AndyE3Dundefined
                      AndyE3D
                      last edited by

                      @leone I am trying to understand what the phase modulation settings in TMCL-IDE are doing exactly but I can't see any reference to it in the user manual.

                      • What steps did you take to get that window in TMCL-IDE?
                      • Are you using a physical dev board (if so which one), or are you simulating the board with a virtual module in the IDE (again which one)?
                      leoneundefined 1 Reply Last reply Reply Quote 0
                      • leoneundefined
                        leone @AndyE3D
                        last edited by

                        @AndyE3D I am using the TMC5160 evaluation kit (https://www.mouser.de/ProductDetail/ADI-Trinamic/TMC5160-EVAL-KIT?qs=TiOZkKH1s2TJebvRqsmGsQ%3D%3D).
                        Once you connect the eval-kit to the pc you will find something called "sinus tool" and you can play with it. This is what in the user manual is called "microstepping look-up table"... I'm not sure if with "phase modulation" you're referring to the same thing.

                        AndyE3Dundefined 1 Reply Last reply Reply Quote 0
                        • AndyE3Dundefined
                          AndyE3D @leone
                          last edited by

                          @leone Can you share the user manual you are using as "microstepping look-up table" also isn't in the one I have from the software
                          c4b6a487-49a8-4867-b1b1-182b26483871-image.png.

                          I also don't have an evaluation board so I might need you to try and change the sliders and share with me what each one does if you are happy to help me with that?
                          abb73207-b8ff-45eb-8ff5-2cdf9cf37a15-image.png

                          leoneundefined 1 Reply Last reply Reply Quote 0
                          • leoneundefined
                            leone @AndyE3D
                            last edited by

                            @AndyE3D I followed the driver's datasheet and the application note 26:
                            https://www.analog.com/en/resources/app-notes/an-026.html
                            https://www.analog.com/media/en/technical-documentation/data-sheets/TMC5160A_datasheet_rev1.17.pdf
                            These are settings strongly dependent on the motor itself, and I have only nema24 motors. The configuration I posted is the best I found for this type of motor.

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

                              Hi @leone, if it's not too much trouble, please can you load the IDE and post screenshots similar to the ones you posted already (showing the sliders, waveform, and register values) with the sliders set in the following positions:

                              1. Modulation amplitude zero, sine offset zero.
                              2. Modulation amplitude -20, sine offset zero,
                              3. Modulation amplitude +20, sine offset zero.
                              4. Modulation amplitude zero, sine offset maximum.

                              You may need to adjust the microstep amplitude in some cases to make the checks pass.

                              My aim is to see whether the "modulation" is just adding some third harmonic to the sine wave, or something more complicated; and to see what the sine offset does.

                              Thanks - David

                              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

                              leoneundefined 1 Reply Last reply Reply Quote 0
                              • leoneundefined
                                leone @dc42
                                last edited by

                                @dc42 here they are. The sine offset should be "the absolute current at entry of the lookup table". It shifts up or down the sine wave, so to have it feasible I had to reduce the microstep amplitude. The maximum offset is not feasible, the higher it gets, the flatter the sinewave must be. Hope it's enough to clarify the behaviour, if you need something else, let me know.

                                mod0_off0.PNG
                                modm20_off0.PNG
                                modp20_off0.PNG
                                mod0_off124.PNG

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

                                  @leone thanks, that's great!

                                  The sine offset isn't what I expected, and I don't see any use for it. Does the IDE documentation or help indicate when it would be useful?

                                  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

                                  leoneundefined 1 Reply Last reply Reply Quote 0
                                  • leoneundefined
                                    leone @dc42
                                    last edited by

                                    @dc42 unfortunately, the IDE doesn't say anything more than the datasheet/application notes.
                                    My understanding here is that the sine wave is encoded as a list of increments/decrements to add to the START_SIN and START_SIN90 registries while increasing the microsteps. Since START_SIN and START_SIN90 represent the current of the two coils at the beginning of the electrical revolution, the value has to be greater or equal than zero.
                                    It can be tuned for some desired behaviours or to make some weird configurations feasible (as in the picture below, where for offset less than 28 the wave is not feasible).
                                    In general, from the examples in the datasheet and application notes, I saw the START_SIN registry always set to zero.

                                    Capture.PNG

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

                                      @leone thanks again!

                                      We're looking to add the facility to apply "modulation" to the sine table using just 1 or 2 parameters. What are the max and min values of "modulation" that the IDE allows you to apply? Please provide screenshots using those values.

                                      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

                                      leoneundefined 1 Reply Last reply Reply Quote 0
                                      • leoneundefined
                                        leone @dc42
                                        last edited by

                                        @dc42 great news!
                                        The modulation parameter goes from -27 to 39.

                                        maxMod.PNG minMod.PNG

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