Problem with circles and diagonal moves



  • Hello,

    I have built a Voron 2.4 with a Duet3 6HC and 3HC combination. While making circle or diagonal moves the X and Y steppers are bucking... Only a move in x or y direction is not a problem.

    Here is the video to demonstrate it:
    Circles with Voron2.4

    I have loosen the belt tension a little bit and increase the current of the x/y stepper motors. But it didn't help...

    Pierre



  • post your config.



  • ; Configuration file for Duet 3 (firmware version 3)
    ; executed by the firmware on start-up
    ;
    ; generated by RepRapFirmware Configuration Tool v3.1.3 on Sun Jul 12 2020 20:53:52 GMT+0200 (Central European Summer Time)
    
    ; General preferences
    G90                                            	    ; send absolute coordinates...
    M83                                                 ; ...but relative extruder moves
    M550 P"Voron 2.4 350mm^3"                           ; set printer name
    M669 K1                                            	; select CoreXY mode
    
    ; Network
    M552 P192.168.178.164 S1                                   	; enable network and acquire dynamic address via DHCP
    M554 P192.168.178.1									; gateway
    M553 P255.255.255.0									; subnet mask
    M586 P0 S1                                          ; enable HTTP
    M586 P1 S0                                         	; disable FTP
    M586 P2 S0                                         	; disable Telnet
    
    ; Drives for XY
    M569 P0.4 S1                                       	; A motor (X)
    M569 P0.5 S1                                       	; B motor (Y)
    
    ; Drives for Z
    M569 P0.0 S1                                       	; Front left 
    M569 P0.1 S0                                       	; Back left
    M569 P0.2 S1                                       	; Back right
    M569 P0.3 S0                                       	; Front right
    
    ; Drive for extruder 
    M569 P1.0 S1                                       	; physical drive 1.0 goes forwards
    M572 D0 S0.1										; pressure advance
    
    ; Drive mappings 
    M584 X0.4 Y0.5 Z0.0:0.1:0.2:0.3 E1.0               	; set drive mapping
    
    ; General drive config like speeds, accel, jerk, etc
    M350 X16 Y16 Z16:16:16:16 E16 I1                   	; configure microstepping with interpolation
    M92 X80.00 Y80.00 Z400.00 E410.00         			; set steps per mm
    M566 X40.00 Y40.00 Z12.00 E120.00          			; set maximum instantaneous speed changes (mm/min)
    M203 X15000.00 Y15000.00 Z2100.00 E1200		       	; set maximum speeds (mm/min)
    M201 X1500.00 Y1500.00 Z350.00 E250.00    			; set accelerations (mm/s^2)
    M906 X1500 Y1500 Z1500 E850 I70                		; set motor currents (mA) and motor idle factor in per cent
    M84 S3600                                           ; Set idle timeout
    
    ; Axis Limits
    M208 X0 Y0 Z-0.85 S1                                ; set axis minima
    M208 X346 Y355 Z320 S0                             	; set axis maxima
    
    ; Endstops
    M574 X2 S1 P"!io1.in"                               ; X Hall effect endstop
    M574 Y2 S1 P"!io2.in"                               ; Y Hall effect endstop
    M574 Z1 S1 P"io3.in"                                ; Z microswitch endstop
    
    ; Z-Probe
    M558 P8 C"!io4.in" T18000 F1200 H5 A5 S0.01 B0 R0.2 ; set Z probe type to switch and the dive height + speeds
    M671 X-46:-46:396:396 Y0:418:418:0 S20        	 	; Define Z belts locations (Front_Left, Back_Left, Back_Right, Front_Right)
    
    G31 P500 X0 Y23 Z5.235                              ; set Z probe trigger value, offset and trigger height <########################
    M557 X20:320 Y30:330 S100:100                       ; define mesh grid (for G32) - überschreibt Grideinstellungen in DOW nach Neustart
    
    ; Hotbed
    M308 S0 P"temp0" Y"thermistor" T100000 B3950 A"Keenovo"    				; Thermistor R3950
    M308 S2 P"temp2" Y"thermistor" T100000 B3950 A"Heizbett direkt"      	; Schraub-Thermistor am Heizbett R3400
    M950 H0 C"out0" T2                                 						; Heater
    M307 H0 A261.9 C549.2 D0.7 V24.0 B0			   							; Heater 0 model: gain 261.9, time constant 549.2, dead time 0.7, max PWM 1.00, calibration voltage 24.0, mode PID
    M140 H0                                            						; Map heated bed to heater 0 - Keenovo 220V, 750W
    M143 H0 P1 T0 A2 S125 C0                            					; Regulate (A2) bed heater (H0) to have pad sensor (T0) below 110°C. Use Heater monitor 1 for it
    M143 H0 P2 T0 A1 S135 C0                            					; Shut off (A1) bed heater (H0) if pad sensor (T0) exceeds 120°C. Use Heater monitor 2 for it
    
    ; Hotend
    M308 S1 P"temp1" Y"thermistor" T500000 B4723 C1.196220e-7 A"Mosquito"      	; Thermistor R-Wert eicht die Temp R3950
    M950 H1 C"out1" T1                                 							; Heater
    M307 H1 A593.7 C180.4 D7.6 V24.0 B0				   							; Heater 1 model: gain 593.7, time constant 180.4, dead time 7.6, max PWM 1.00, calibration voltage 24.0, mode PID
    M143 H1 S350																; Sets temperature limit for extruder - Mosquito
    
    ; DHT22 sensor
    ;M308 S10 P"0.spi.cs0" Y"dht22"       A"Chamber Temp"    ; Temperature (connected to cs0 port on the temp daughterboard slot
    ;M308 S11 P"S10.1"     Y"dhthumidity" A"Chamber Hum[%]"  ; Humidity
    
    ; Main fans
    M950 F0 C"1.out6" Q100                             	; Part cooling fan
    M106 P0 S0 B0.2 H-1                                	; Default off; booststart for 0.2s; thermostatic control off 
    M950 F1 C"out7" Q500                           	   	; Hotend cooling fan
    M106 P1 S1 H1 T45                                  	; Default on; thermistatic control on above 45C
    
    ; Aux fans (option to control daughter board fans based on main board temp sensor coming in RRF3.3, for now has to be manual)
    M950 F2 C"1.out7" Q500                              ; Electronics compartment fan 1
    M106 P2 S1.0 H-1                                    ; Default on; thermostatic control off 
    M950 F3 C"1.out8" Q500                              ; Electronics compartment fan 2
    M106 P3 S1.0 H-1									; Default on; thermostatic control off 
    
    M950 F6 C"out8" Q500								; Noctua exhaust filter fan
    M106 P6 S0 H-1										; Default off 
    
    ; LED-Stripes
    ;M950 F5 C"out9" Q500								; LED-Streifen rechts --> derzeit nicht installiert
    ;M106 P5 S1.0 H-1                                   ; Default on; thermostatic control off
    
    ; Tools
    M563 P0 D0 H1 F0                                   	; define tool 0
    G10 P0 X0 Y0 Z0                                    	; set tool 0 axis offsets
    G10 P0 R0 S0                                       	; set initial tool 0 active and standby temperatures to 0C
    
    ; Custom settings are not defined
    
    ; Miscellaneous
    M911 S22 R23 P"M913 X0 Y0 G91 M83 G1 Z3 E-5 F1000" 	; set voltage thresholds and actions to run on power loss
    M575 P1 S1 B57600                            		; enable support for PanelDue
    M501
    M292
    
    


  • It's better with higher speed...

    bigger squares
    smaller squares



  • i assume you are on firmware 3.1.1?

    how did you generate the circle movement commands?

    can you try and enable a different jerk Policy (M566 P1)


  • Moderator

    M350 X16 Y16 Z16:16:16:16 E16 I1

    The extra 16s on Z there are unnecessary.

    Can you post a sample of gcode file that produces the problem?

    Do the motors behave the same with the belt disconnected?



  • @Phaedrux said in Problem with circles and diagonal moves:

    M350 X16 Y16 Z16:16:16:16 E16 I1

    The extra 16s on Z there are unnecessary.

    Can you post a sample of gcode file that produces the problem?

    Do the motors behave the same with the belt disconnected?

    How is it correct?


  • Moderator

    @medicusdkfz how is what correct?



  • This is a video with various speeds with the circle movement...

    It's a lot better now but not perfect.

    This is the new M566:

    M566 P1 X1000.00 Y1000.00 Z12.00 E120.00          		; set maximum instantaneous speed changes (mm/min)
    

    Circles with various speed


  • Moderator

    @medicusdkfz do you have mesh compensation active? Increase your z jerk to 60



  • I have isolated the noisy problem. It's kind of a resonance frequency with biggest peak at 67 mm/s and a smaller peak at 133 mm/s in x and y direction.

    I've started a macro with various speeds from 1000 mm/min up to 10000 for x and y. Mesh is not active at this time. Only for real printing purposes.


  • Moderator

    Regardless, still a good idea to raise your Z jerk if you intend to use mesh compensation.

    https://duet3d.dozuki.com/Wiki/Using_mesh_bed_compensation#Section_Troubleshooting



  • Hi,

    the biggest problem lies in the stepper motor setting. I reduced the acceleration and increased the maximal speed and currents a little bit. Now it fine. The noise is almost gone!

    Thank you,
    Pierre


  • Moderator

    Can you link the specs of the motor?
    What did you end up with for settings?
    Might helps someone in the future.



  • Yes, a little bit later. While I'm printing, I have the strange issue, that my web interface lost the connection to the Duet3 6HC. After some minutes my Duet reboots.



  • @medicusdkfz
    please post the M122 after the reboot



  • For the moment I cut the web connection to the board while printing.



  • After connection lost and reboot of the Duet3 6HC while printing (!), here is my M122...
    Therefore normally I close any web connection in every browser to the 6HC! That is the only way to prevent this issue... I'm running the RRF3 3.2-beta4!

    M122
    === Diagnostics ===
    RepRapFirmware for Duet 3 MB6HC version 3.2-beta4 running on Duet 3 MB6HC v0.6 or 1.0 (standalone mode)
    Board ID: 08DJM-956L2-G43S8-6J1DJ-3SN6M-9S0YG
    Used output buffers: 1 of 40 (12 max)
    === RTOS ===
    Static ram: 123212
    Dynamic ram: 168800 of which 488 recycled
    Never used RAM 99692, free system stack 180 words
    Tasks: NETWORK(ready,189) ETHERNET(blocked,110) HEAT(blocked,297) CanReceiv(blocked,898) CanSender(blocked,371) CanClock(blocked,352) TMC(blocked,51) MAIN(running,1127) IDLE(ready,19)
    Owned mutexes:
    === Platform ===
    Last reset 00:13:05 ago, cause: software
    Last software reset at 2020-12-06 11:17, reason: MemoryProtectionFault mmarValid daccViol, GCodes spinning, available RAM 99652, slot 2
    Software reset code 0x4163 HFSR 0x00000000 CFSR 0x00000082 ICSR 0x0444a804 BFAR 0x00000016 SP 0x2040b928 Task ETHE
    Stack: 20423888 00000000 ffffffff 00000002 204098a4 0040fdf9 004109a2 61000000 204098ec 20423830 2042384c 0040fdf9 2041df64 2041b3cc 2041de94 0040c7a9 20411574 00000000 00000001 2041b3cc 204098a4 00000002 00000002 2041b3cc 20409872 a4b2a8c0 2040ba34
    Error status: 0x00
    MCU temperature: min 36.5, current 36.7, max 39.5
    Supply voltage: min 23.9, current 23.9, max 24.0, under voltage events: 0, over voltage events: 0, power good: yes
    12V rail voltage: min 12.1, current 12.2, max 12.3, under voltage events: 0
    Driver 0: position 0, standstill, reads 12266, writes 14 timeouts 0, SG min/max 0/0
    Driver 1: position 0, standstill, reads 12266, writes 14 timeouts 0, SG min/max 0/0
    Driver 2: position 0, standstill, reads 12267, writes 14 timeouts 0, SG min/max 0/0
    Driver 3: position 0, standstill, reads 12268, writes 14 timeouts 0, SG min/max 0/0
    Driver 4: position 0, standstill, reads 12269, writes 14 timeouts 0, SG min/max 0/0
    Driver 5: position 0, standstill, reads 12270, writes 14 timeouts 0, SG min/max 0/0
    Date/time: 2020-12-06 11:30:20
    Slowest loop: 5.04ms; fastest: 0.15ms
    === Storage ===
    Free file entries: 10
    SD card 0 detected, interface speed: 25.0MBytes/sec
    SD card longest read time 2.6ms, write time 0.0ms, max retries 0
    === Move ===
    Hiccups: 0(0), FreeDm: 375, MinFreeDm: 375, MaxWait: 0ms
    Bed compensation in use: none, comp offset 0.000
    === MainDDARing ===
    Scheduled moves 0, completed moves 0, StepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
    === AuxDDARing ===
    Scheduled moves 0, completed moves 0, StepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
    === Heat ===
    Bed heaters = 0 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1, chamberHeaters = -1 -1 -1 -1
    === GCodes ===
    Segments left: 0
    Movement lock held by null
    HTTP is idle in state(s) 0
    Telnet is idle in state(s) 0
    File is idle in state(s) 0
    USB is idle in state(s) 0
    Aux is idle in state(s) 0
    Trigger is idle in state(s) 0
    Queue is idle in state(s) 0
    LCD is idle in state(s) 0
    SBC is idle in state(s) 0
    Daemon is idle in state(s) 0
    Aux2 is idle in state(s) 0
    Autopause is idle in state(s) 0
    Code queue is empty.
    === Network ===
    Slowest loop: 6.42ms; fastest: 0.03ms
    Responder states: HTTP(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) FTP(0) Telnet(0), 0 sessions Telnet(0), 0 sessions
    HTTP sessions: 1 of 8

    • Ethernet -
      State: active
      Error counts: 0 0 0 0 0
      Socket states: 2 2 2 2 2 0 0 0
      === CAN ===
      Messages queued 3151, send timeouts 0, received 3152, lost 0, longest wait 10ms for reply type 6027, free buffers 47

    Thank you,
    Pierre


  • Moderator

    Can you try beta 4.1?



  • I have but there are more problems. My 3HC don't wake up after a soft reboot. Only when I switch off the power and power on, the 3HC is there...
    I changed back to 3.1.1...


  • Moderator

    Did you update the firmware on the 3hc as well?



  • Of course, I did...


  • Moderator

    Just checking.


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