Stall Detection on Duet 2 WiFi and Duet 3 MB6HC

[R006]

Hi,

I’m using a Duet 2 WiFi board running RepRapFirmware 3.5.0-rc2. My setup includes six stepper motors: three on the Z-axis, two on the Y-axis, and one on the X-axis.
I’m trying to implement stall detection and would appreciate some guidance on where to start. I’ve followed the documentation at:
" https://docs.duet3d.com/en/User_manual/Connecting_hardware/Sensors_stall_detection "
I set up a table-top test, but stall detection doesn’t appear to be working as expected.
Here is my current configuration:

daemon.g

; Monitor for X stall
if move.axes[0].stalled
  M291 P"X Axis Stall Detected!" R"Warning" S1 T3
  M18 X ; Disable X motor

config.g

M569 P0 S1 D2         ; Configure driver 0 with stall detection enabled (mode D2)
M584 X0 Y1 Z2:3:4 E5  ; Axis mapping
M915 P0 S3 F0 R0      ; Stall detection for driver 0, sensitivity 3, no filtering, no action

Questions:

1. Is there anything incorrect or missing in this configuration?
2. Is there a recommended way to test stall detection in a controlled manner?
3. Should the daemon check be done differently in firmware 3.5.0?

Additionally, I want to implement stall detection on a Duet 3 MB6HC board. This setup uses:
-Three stepper motors for Z,
-Two servos for Y,
-One servo for X.
Can stall detection be applied in a similar way for servos, or would I need a different approach?

Any help would be greatly appreciated. @dc42 @Phaedrux

[Phaedrux]

@R006 said in Stall Detection on Duet 2 WiFi and Duet 3 MB6HC:

RepRapFirmware 3.5.0-rc2

The old unsupported 3.5 rc2 or the new in testing 3.6 rc2?

[R006]

@Phaedrux said in Stall Detection on Duet 2 WiFi and Duet 3 MB6HC:

The old unsupported 3.5 rc2 or the new in testing 3.6 rc2?

i am testing with this RRF too.

[droftarts]

@R006 Driver stalls are handled by the Events system in RRF 3.4 and later. Better to use that than daemon.g, which will only run once every 10 seconds. See https://docs.duet3d.com/en/User_manual/RepRapFirmware/Events
Change your M915 R parameter to R2 to trigger the event. See https://docs.duet3d.com/User_manual/Reference/Gcodes#m915-configure-motor-stall-detection

Tuning the stall detection is covered by the documentation.

For servos, I assume you have 6HC with CAN-connected 1XD, connected to the external drivers for the servos. The external drivers usually have an error or alarm pin. See the 'Alarm' section of the configuration examples here https://docs.duet3d.com/Duet3D_hardware/Duet_3_family/Duet_3_Expansion_1XD#configuration-examples to set up an IO pin and triggers to detect the alarm.

Ian

[R006]

@droftarts said in Stall Detection on Duet 2 WiFi and Duet 3 MB6HC:

Change your M915 R parameter to R2 to trigger the event. See https://docs.duet3d.com/User_manual/Reference/Gcodes#m915-configure-motor-stall-detection

i have try to generating trigger but it's not run while motor is stall.

For servos, I assume you have 6HC with CAN-connected 1XD, connected to the external drivers for the servos. The external drivers usually have an error or alarm pin. See the 'Alarm' section of the configuration examples here https://docs.duet3d.com/Duet3D_hardware/Duet_3_family/Duet_3_Expansion_1XD#configuration-examples to set up an IO pin and triggers to detect the alarm.

Thanks. i am just conform with.

[droftarts]

@R006 said in Stall Detection on Duet 2 WiFi and Duet 3 MB6HC:

i have try to generating trigger but it's not run while motor is stall.

Have you set up the sys/driver-stall.g macro? Even without this, you should get a message in the console, though motion will continue. If you don't get a stall warning message, adjust the sensitivity; see https://docs.duet3d.com/en/User_manual/Connecting_hardware/Sensors_stall_detection#stall-detection-sensitivity-m915-s-f-and-h-parameters

Ian

[R006]

@droftarts said in Stall Detection on Duet 2 WiFi and Duet 3 MB6HC:

Have you set up the sys/driver-stall.g macro? Even without this, you should get a message in the console, though motion will continue. If you don't get a stall warning message, adjust the sensitivity; see https://docs.duet3d.com/en/User_manual/Connecting_hardware/Sensors_stall_detection#stall-detection-sensitivity-m915-s-f-and-h-parameters

Yes, the driver-stall.g macro is present in my sys folder. I’ve tried setting the sensitivity value from -10 to +64, but stall detection still isn’t working.

Recently, I tried testing stall detection for a stepper motor on a tabletop setup using RRF version 3.6.0-rc1. Both daemon.g and driver-stall.g macros are present in my sys folder.
Here’s what I did:

1. I homed the Z motor using the G92 command.
2. Then I moved the Z-axis with the command: G1 Z300 F6000.
3. While the motor was moving, I manually held the shaft to simulate a stall.
   However, no stall was detected — neither daemon.g nor driver-stall.g was triggered.