1HCL closed loop mode motor not turning

[Garth_42]

Hi all,

I am attempting to set up closed loop motor control with the 1HCL on the Duet3 MB6HC and have commissioned the motor in open-loop mode successfully. After this, I try to switch it to closed-loop mode and the motor doesn't turn at all. When I send configuration commands I am not getting any errors from the console. When I attempt closed loop tuning, I get an error that the measured motion was less than expected (which makes sense). I am using an off-the-shelf stepperonline closed-loop motor (17E1K-07) with 4000CPR and 1.8deg/step. All the firmware on the mainboard, DWC, and expansion is on 3.5.3.

I have been following the docs to setup the 1HCL and here are the G-Codes that I am using for configuration.

Open-loop (working):

M569.1 P123.0 T2 C4000 S200 R100 I0 D0 E4:6 ; Configure the 1HCL board at CAN address 123 with a quadrature encoder on the motor shaft that has 4000 PPR with a motor with 200 full steps per revolution (1.8degrees).
M569 P123.0 D2 S1 ; spreadcycle mode (open loop)
M584 X123.0 ; set X driver
M906 X1000 ; set the max current to use for X
M917 X0 ; Set the closed loop axes to have a holding current of zero
M92 X80 ; steps/mm
G92 X0

Closed loop (motor not turning at all):

M569.1 P123.0 T2 C4000 S200 R100 I0 D0 E4:6 ; Configure the 1HCL board at CAN address 123 with a quadrature encoder on the motor shaft that has 4000 PPR with a motor with 200 full steps per revolution (1.8degrees).
M569 P123.0 D4 S1 ; Configure the motor on the 1HCL at can address 123 as being in closed-loop drive mode (D4) and not reversed (S1)
M584 X123.0 ; set X driver
M906 X1000 ; set the max current to use for X
M917 X0 ; Set the closed loop axes to have a holding current of zero
M92 X80 ; steps/mm
G92 X0

Please let me know if you have any input on how to debug further.

Best,
Garth

[Garth_42]

@Garth_42
Let me know if I can provide additional data to assist in troubleshooting this.

[dc42]

@Garth_42 when you try to calibrate and it gives the message that motion was less than expected, does the motor turn forwards and back slightly, and does the message give you an estimate of the CPR? If so, is it close to the actual CPR of the encoder?