Duet 3 3.2 Beta2 + SBC jerking motion

tristanryerparke

I had this issue with the Pi4 plus Duet3 on the 3.2 beta as well, went back to the stable to avoid it. Now after upgrading to 3.2rc1 I am still having this "jolting" issue.
I need to run the sbc as ethernet connection is not an option in my workshop.

Phaedrux

@tristanryerparke Can you give some more details about your setup? config.g, etc.

tristanryerparke

Gantry style five axis machine. Nema23 on X,Y. Nema17 on Z,A,B. Duet 3 mainboard and one toolboard controlling the b axis and z probe.
Dual motors for Y axis, auto squaring with U axis.
Config;

;CNC Mode
M453
;Brake Pins
M950 P2 C"out8"
M950 P1 C"out7"
;Drivers
M569 P0.0 S0  I1
M569 P0.1 S0  I1
M569 P0.2 S1  I1
M569 P0.3 S0  I1
M569 P0.4 S0  I1
M569 P121.0 S1 I1
;Driver Mapping
M584 X0.3 Y0.1:0.2  Z0.0  A0.4  B121.0 P5
M584 U0.2 P5
;Current
M906 X2000 Y3750    Z2000 U3750 A1750 B1500 I100
;Microstepping
M350 X16   Y16      Z16   U16   A16 I1 
;Steps Per MM
M92  X80   Y80      Z80   U80  A46.1062140618 B26.6666
;Instantaneous Speed Change
M566 X500   Y500      Z500   U500   A500
;Max Speeds
M203 X13000 Y13000    Z13000 U6000 A40000 B40000
;Max Acceleration
M201 X750  Y750     Z500  U750 A2000 B2000
;Disable Idle Current Reduction
M84 S0    
M917 Y100
;Probe
M558 P9 C"!^121.io0.in" H200 F400 T2000 I1
;Limits
M208 X0    Y-1360 Z-145 A-72000 B-101.4 S1
M208 X1242 Y0     Z0    A72000  B230 S0
;Servos
M950 S3 C"io4.out"
M950 S4 C"io5.out"
;Endstops
M574 U1 S1 P"!io6.in"
M574 Y1 S1 P"!io1.in"
M574 X1 S1 P"io8.in"
M574 Z1 S1 P"io7.in"
M574 A1 S1 P"io0.in"
;Head Endstop
M574 B1 S1 P"121.io2.in"
;Tool 0
M563 P0 S"Probe"
;Tool 1
M563 P1 S"1/4 Flat Brush"
;Tool 2
M563 P2 S"5/8 Flat Brush"
;Allow Movement
M564 S0 H0

Phaedrux

RC2 is now out, can you test with that?

tristanryerparke

@Phaedrux Just tried with RC2, no luck and jerks happen in the same places on same file.

Phaedrux

@tristanryerparke I'm just noticing in your config some rather large spacing between some values. Is that intentional? Can you send M98 P"config.g" to check for errors? Can you send some of those commands like M208 or M201 etc by themselves to see if all of the values for all axis are being set as expected?

tristanryerparke

@Phaedrux yes the spacing was large just for readability/comparing values for axes.
I have removed the spacing so config.g now looks like this:

;CNC Mode
M453
;Name
M550 P"tristan-painting-machine"
;Brake Pins
M950 P2 C"out8"
M950 P1 C"out7"
;Drivers
M569 P0.0 S0  I1
M569 P0.1 S0  I1
M569 P0.2 S1  I1
M569 P0.3 S0  I1
M569 P0.4 S0  I1
M569 P121.0 S1 I1
;Driver Mapping
M584 X0.3 Y0.1:0.2  Z0.0  A0.4  B121.0 P5
M584 U0.2 P5
;Current
M906 X2000 Y3750 Z2000 U3750 A1750 B1500 I100
;Microstepping
M350 X16 Y16 Z16 U16 A16 I1 
;Steps Per MM
M92 X80 Y80 Z80 U80 A46.1062140618 B26.6666
;Instantaneous Speed Change
M566 X500 Y500 Z500 U500 A500
;Max Speeds
M203 X13000 Y13000 Z13000 U6000 A40000 B40000
;Max Acceleration
M201 X750 Y750 Z500 U750 A2000 B2000
;Disable Idle Current Reduction
M84 S0    
M917 Y100
;Probe
M558 P9 C"!^121.io0.in" H200 F400 T2000 I1
;Limits
M208 X0 Y-1360 Z-145 A-72000 B-101.4 S1
M208 X1242 Y0 Z0 A72000 B230 S0
;Servos
M950 S3 C"io4.out"
M950 S4 C"io5.out"
;Endstops
M574 U1 S1 P"!io6.in"
M574 Y1 S1 P"!io1.in"
M574 X1 S1 P"!io8.in"
M574 Z1 S1 P"io7.in"
M574 A1 S1 P"io0.in"
;Head Endstop
M574 B1 S1 P"121.io2.in"
;Tool 0
M563 P0 S"Probe"
;Tool 1
M563 P1 S"1/4 Flat Brush"
;Tool 2
M563 P2 S"5/8 Flat Brush"
;Allow Movement
M564 S0 H0

Running 3.2 stable now and the issue is still happening. M98 P"config.g" runs fine with no errors.
Here is video of one of the clunks:
https://youtu.be/egwhWUq8yAg
As you can see the system is not losing steps, it just stops for a fraction of a second without accelerating/decelerating.
Maybe I should make a new thread for this issue?
Let me know.
Cheers,
T

Phaedrux

@tristanryerparke said in Duet 3 3.2 Beta2 + SBC jerking motion:

Maybe I should make a new thread for this issue?

Is this different than the initial issue?

Phaedrux

@tristanryerparke said in Duet 3 3.2 Beta2 + SBC jerking motion:

A0.4 B121.0

Are those rotational axis? Did you notice the note in the release notes for 3.2?

tristanryerparke

@Phaedrux I believe this is the same issue as the what the OP had.
I did read the notes for 3.2, A and B axes are rotational and should be defaulting to that within the first M584 command, correct?
I will try now explicitly defining them as rotational.
Also something interesting:
I just started messing around with the M595 command to see if I could fix the clunks.
So far I have tried S=5, S=10, S=50, S=100 and S=1000.
All of these made the clunking way worse!
Very strange.
T

Phaedrux

@tristanryerparke said in Duet 3 3.2 Beta2 + SBC jerking motion:

I believe this is the same issue as the what the OP had.

Ah, sorry, I didn't notice that you weren't the OP.

Yes please create a new thread.