Homing with Stall Detection on 3HC
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I have just added a 3HC board to provide capacity for an extra axis and am testing with RepRapFirmware 3.2beta4.1. I have configured sensorless homing on this new axis but seem unable to detect a stall, regardless of the settings for the axis. Homing fails with a "G28 U Error: Homing failed" message.
During my investigations, I found a comment that suggested that sensorless homing was not supported on the 3HC expansion board. Please could you confirm if this is actually the case?
Setup:
Duet 3 6HC
Duet 3 Expansion 3HC (ID 1)
SBC
RepRapFirmware 3.2beta4.1Axis U configured as follows:
M584 X2 Y1 Z0 C5 U1.0
M208 X-185:178.5 Y-149:49 Z0:300 C0:500 U0:110
M92 X100 Y100 Z1600 C200 E834:834:409:409 U400
M350 X16 Y16 Z16 U16 I1
M566 X400 Y400 Z8 C2 U400 E1000:1000:1000:1000
M203 X35000 Y35000 Z1200 C10000 U10000 E5000:5000:5000:5000
M201 X6000 Y6000 Z400 C500 U6000 E2500:2500:2500:2500
M906 X2000 Y2000 Z1330 C500 U1500 E1400:1400:1000:1000 I30
M574 U1 S3
M915 U S1 F1 H200 R1homeu.g is as follows:
G91 ; use relative positioning
G1 H2 U0.5 F10000 ; energise motors to ensure they are not stalled
M400 ; make sure everything has stopped before we change the motor currents
M913 U70 ; drop motor currents to 70%G1 H1 U-120 F10000 ; move up 150mm, stopping at the endstop
G1 H1 U2 F2000 ; move away from end
G1 H1 U-120 F10000 ; repeat the homing move because it doesn't always work first time
G1 H1 U30 F4000 ; move away from end
G90 ; back to absolute positioningM400 ; make sure everything has stopped before we reset the motor currents
M913 U100 ; motor currents back to 100%I have tried a range of parameters for the stall detection, current settings and speeds. No stalls are recorded in the logs.
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Stall detection on an expansion is not currently supported.
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Thanks. Interestingly, that page doesn't come up in search results for 'stall' and 'home'.
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The search is rather pedantic. It should show up now though. And hopefully it won't be much longer before it's irrelevant.
