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    Core XY high speed closed loop tuning

    Scheduled Pinned Locked Moved
    Tuning and tweaking
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    • Tech_Sam03undefined
      Tech_Sam03
      last edited by

      Hi,

      i need help tuning my XY motors on my corexy, i want to run them in closed loop. I want to run 250mm/s 10K-20Kmm² for printing and 800-1000mm/s 50K-60K for travel with 3000 Jerk. The problem now is that the pid tune for printing moves isns't good for travel moves. For now i use a p therm off 30 should i increase it or is it better to increase the A and V therm?

      dc42undefined 1 Reply Last reply Reply Quote 0
      • dc42undefined
        dc42 administrators @Tech_Sam03
        last edited by

        @Tech_Sam03 please post the plots from the closed loop plugin using your current PID values, showing the number of steps, the PID terms and the total error; at both your print speed and proposed travel speed.

        Are you using 48V power to the motors?

        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

        Tech_Sam03undefined 1 Reply Last reply Reply Quote 0
        • Tech_Sam03undefined
          Tech_Sam03 @dc42
          last edited by

          @dc42

          Yes, i run them at 48V!

          This is X axis print speed:
          X-Print.png
          (X-Print)51_2025-03-18_13.50.50.csv

          Y axis print speed:
          Y-Print.png
          (Y-Print)50_2025-03-18_13.51.00.csv

          X axis travel speed:
          X-Travel.png
          (X-Travel)51_2025-03-18_13.51.10.csv

          Y axis travel speed:
          Y-Travel.png
          (Y-Travel)50_2025-03-18_13.51.14.csv

          This is in open loop:
          X-Print(spreadcycle).png X-Travel(spreadcycle).png

          Tech_Sam03undefined 1 Reply Last reply Reply Quote 0
          • Tech_Sam03undefined
            Tech_Sam03 @Tech_Sam03
            last edited by

            I wanted to get in touch again. I've put the closed loop project on hold for a while and now I want to get back to it. My main problem is the big error when accelerating and decelerating.

            dc42undefined 1 Reply Last reply Reply Quote 0
            • dc42undefined
              dc42 administrators @Tech_Sam03
              last edited by

              @Tech_Sam03 what amount of error are you are getting when accelerating and decelerating, and is it during printing moves, travel moves, or both?

              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

              Tech_Sam03undefined 1 Reply Last reply Reply Quote 0
              • Tech_Sam03undefined
                Tech_Sam03 @dc42
                last edited by

                @dc42

                About */-~1.5 Steps of error in the closed Loop Tuning Plugin. I have set my error boundary to E2:3. I don't get any messages while printing, but I do get them when traveling.

                dc42undefined 1 Reply Last reply Reply Quote 0
                • dc42undefined
                  dc42 administrators @Tech_Sam03
                  last edited by

                  @Tech_Sam03 thank you. Is this with the Pid A term optimised for travel moves or for printing moves? What acceleration are you using for travel moves?

                  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

                  Tech_Sam03undefined 2 Replies Last reply Reply Quote 0
                  • Tech_Sam03undefined
                    Tech_Sam03 @dc42
                    last edited by

                    @dc42
                    I use a travel acceleration of 40k mm/s. I tuned it between travel and printing Speed.

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                    • Tech_Sam03undefined
                      Tech_Sam03 @dc42
                      last edited by

                      @dc42

                      I did a quick, rough tuning to see if I was making any mistakes.

                      Step 1 Speed and Accels
                      Step 1 -Speed too low.png
                      Speed too low

                      Step 2 - Speed ok.png
                      Speed Ok

                      Step 2 A therm
                      Step 3 - A30.000.png
                      A too low (A30.000)

                      Step 4 - A40.000.png
                      A therm is ok(A40.000)

                      Step 5 - A50.000.png
                      A too heigh odd spikes in P therm(A50.000)

                      Step 3 V therm
                      Step 6 - V300.png
                      V too low(V300)

                      Step 7 - V400.png
                      V ok(V400)

                      Step 8 - V500.png
                      V too high(V500)

                      Step 4 D therm
                      Step 9 - D0.1.png
                      D ok(D0.1)

                      Step 10 - D0.2.png
                      D better but to loud(D0.2)

                      Step 5 I therm
                      Step 11 - Current tune Error.png
                      P20 A40.000 V400 D0.1 I0 Current tune no steady error. Do i even need a I therm because i dont really have a steady-state error?

                      Step 12 - I500.png
                      I500

                      Step 13 - I1000.png
                      I1000

                      Step 14 - I1500.png
                      I1500

                      System specs:

                      -Version 3.6.0-RC3
                      -LDO 42STH48-2504AC i pressed in a longer shaft in the rotor to fit an encoder to the back
                      -48V
                      -2500A for the motors
                      -AMT10E3 encoder 2000PPR

                      dc42undefined 1 Reply Last reply Reply Quote 0
                      • dc42undefined
                        dc42 administrators @Tech_Sam03
                        last edited by dc42

                        @Tech_Sam03 before you added the D term you had a lot of ringing in the P term. You would also have seen this in the Current Error had you plotted it. That's an indication that the P term is too large. A small amount of ringing can be countered by adding a small D term, but as you discovered, larger D terms make the motor noisier.

                        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

                        Tech_Sam03undefined 1 Reply Last reply Reply Quote 0
                        • Tech_Sam03undefined
                          Tech_Sam03 @dc42
                          last edited by

                          @dc42

                          This is the plot befor adding the D therm
                          D therm 0.png

                          Should i use 30-50% off the current P therm and test again?

                          dc42undefined 1 Reply Last reply Reply Quote 0
                          • dc42undefined
                            dc42 administrators @Tech_Sam03
                            last edited by

                            @Tech_Sam03 you may not need to reduce the P term by as much as that. Try 50 to 70% of the current value.

                            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

                            Tech_Sam03undefined 1 Reply Last reply Reply Quote 0
                            • Tech_Sam03undefined
                              Tech_Sam03 @dc42
                              last edited by

                              @dc42

                              I tried a P therm of 15. But i get those high peaks (Error/PID) in the accelereation segments of the move.
                              Bild_2025-05-23_075731611.png

                              dc42undefined 1 Reply Last reply Reply Quote 0
                              • dc42undefined
                                dc42 administrators @Tech_Sam03
                                last edited by dc42

                                @Tech_Sam03 that plot suggests that the A term was too low or the maximum motor current too low.

                                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
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