duet wifi delta stall detection homing problem

mfoltz

I had an older duet wifi on my delta printer for around 3 years and recently it stopped working for me so I got a new one and it is all installed and running, except I am having an issue when I go to home it. I should also add that it is not totally frozen it does the second pass movements just not the initial upward movement.
I will send the home command and then only 2 of the three axis will home if I rehome right after i get the insufficient axis homed all 3 will home. It is also not the same axis freezing each time.config (1).g homedelta.g

Phaedrux

M913 X30 Y30 Z30
G1 H1 X350 Y350 Z350 F2400 ; move all towers to the high end stopping at the endstops (first pass)
G1 H2 X-5 Y-5 Z-5 F1800   ; go down a few mm
;*** Slow homing has been configured. Change F180 to F360 below when your configuration is working
G1 H1 X10 Y10 Z10 F1600    ; move all towers up once more (second pass)
M913 X100 Y100 Z100
G1 Z-5 F6000              ; move down a few mm so that the nozzle can be centred
G90                       ; absolute positioning
G1 X0 Y0 F6000            ; move X+Y to the centre

Are you sure that 30% motor current is enough to move reliably? Try 50%

And are you actually using sensorless stall detection homing for a delta? Seems like it's not tuned correctly yet.

; Configuration file for Duet WiFi (firmware version 2.03)
; executed by the firmware on start-up
;
; generated by RepRapFirmware Configuration Tool v3.1.10 on Sun Dec 06 2020 13:22:51 GMT-0500 (Eastern Standard Time)

; General preferences
G90                                                ; send absolute coordinates...
M83                                                ; ...but relative extruder moves
M550 P"The Bruise 3.2"                             ; set printer name
M665 R175 L304.16 B125 H335                         ; Set delta radius, diagonal rod length, printable radius and homed height
M666 X0 Y0 Z0                                      ; put your endstop adjustments here, or let auto calibration find them

; Network
M552 S1                                            ; enable network
M586 P0 S1                                         ; enable HTTP
M586 P1 S0                                         ; disable FTP
M586 P2 S0                                         ; disable Telnet

; Drives
M569 P0 S1                                         ; physical drive 0 goes forwards
M569 P1 S0                                         ; physical drive 1 goes forwards
M569 P2 S0                                         ; physical drive 2 goes forwards
M569 P3 S1                                         ; physical drive 3 goes forwards
M584 X0 Y1 Z2 E3                                   ; set drive mapping
M350 X32 Y32 Z32 E32 I0                            ; configure microstepping without interpolation
M92 X400.00 Y400.00 Z400.00 E873.08                ; set steps per mm
M566 X1200.00 Y1200.00 Z1200.00 E1200.00           ; set maximum instantaneous speed changes (mm/min)
M203 X18000.00 Y18000.00 Z18000.00 E1200.00        ; set maximum speeds (mm/min)
M201 X1000.00 Y1000.00 Z1000.00 E1000.00           ; set accelerations (mm/s^2)
M906 X1200 Y1200 Z1200 E1000                    ; set motor currents (mA) and motor idle factor in per cent
                                           ; Set idle timeout

; Axis Limits
M208 Z0 S1                                         ; set minimum Z

; Endstops
M574 X2 Y2 Z2 S3                                   ; set endstops controlled by motor stall detection
M915 X Y Z S4 F0 R0

; Z-Probe
M558 P5 R0.4 H5 F1200 T6000 A2                    ; set Z probe type to effector and the dive height + speeds
G31 P200 X0 Y0 Z-0.1                               ; set Z probe trigger value, offset and trigger height
M557 R120 S20                                      ; define mesh grid

; Heaters
M305 P0 T100000 B4138 R4700                        ; set thermistor + ADC parameters for heater 0
M143 H0 S100                                       ; set temperature limit for heater 0 to 100C
M305 P1 T100000 B4138 R4700                        ; set thermistor + ADC parameters for heater 1
M143 H1 S280                                       ; set temperature limit for heater 1 to 280C

; Fans
M106 P0 S0 I0 F500 H-1                             ; set fan 0 value, PWM signal inversion and frequency. Thermostatic control is turned off
M106 P1 S1 I0 F500 H1 T45                          ; set fan 1 value, PWM signal inversion and frequency. Thermostatic control is turned on

; 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
M501                                               ; load saved parameters from non-volatile memory
M911 S10 R11 P"M913 X0 Y0 G91 M83 G1 Z3 E-5 F1000" ; set voltage thresholds and actions to run on power loss

mfoltz

anything above 30% and they dont stall detect, it ends up skipping the belt. and it does home ok with stall detect on the second try just on the first try one motor (and it goes from motor to motor) does not make the initial upward move.link text here is a video of what it is doing. it happened to the x axis this time but sometimes it is the y or z, always just 1 axis though.

Veti

i dont thing stall detection on a delta is a good idea.
the endstops on a delta need to be as accurate as possible.

dc42

Stall detect endstops are OK on a delta provided that it has a good Z probe and you follow homing with at least 3-factor delta calibration.

Try starting the homedelta.g file with a very short (e.g. 1mm) downward G1 H2 move, before the first G1 H1 move. Or try reducing the stall sensitivity by increasing the M915 S factor by one.

mfoltz

Thank you, added G1 H2 X-1 Y-1 Z-1 and it is working fine now