Help with sensorless in duet 3 mini 5+

RodrigoRMaraujo

I'm installing a 3 mini 5+ duet and this is my first contact with RRF 3.3. I have other machines with RRF 2.05.
It's a Cartesian printer that I'm still finishing and I'm having trouble getting home without endstop (sensorless) working, on X and Y.
I tried to follow the documentation and tips on the forum but I still can't figure out what I did wrong. Can anyone give me a hand?

Here are my configuration files. Please ignore all the part related to heaters and thermistors, for now I am dedicating myself to finishing moving the shafts. In Z I have 2 independent motors in 0.2 and 0.4. All G32 and G29 operation is correct. My problem is just the sensorless in X and Y, the motors don't stop working even after hitting the side and bottom:

config.g

; Configuration file for Duet 3 Mini 5+ (firmware version 3)
; executed by the firmware on start-up
;
; generated by RepRapFirmware Configuration Tool v3.2.3 on Sat Mar 13 2021 18:31:13 GMT+0800 (中国标准时间)

; General preferences
M669 K0
G90                                             ; send absolute coordinates...
M83                                             ; ...but relative extruder moves
M550 P"AGraber Duet3 Mini 5+"                              ; set printer name

; Lcd rgb fysect pioneer
M918 P2 E2 C50 R6
M150 R150 U150 B255 P55 X2

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

; Drives
M569 P0.0 S0                                    ; physical drive 0.0 goes forwards
M569 P0.1 S0                                   ; physical drive 0.1 goes forwards Y
M569 P0.2 S0                                    ; physical drive 0.2 goes forwards
M569 P0.3 S0                                    ; physical drive 0.3 goes forwards
M569 P0.4 S0                                    ; physical drive 0.4 goes forwards

;DUAL Z
M584 X0.0 Y0.1 Z0.2:0.4 E0.3
;M584 X0.0 Y0.1 Z0.2 E0.3                        ; set drive mapping
M671 X20:200 Y0:0 S3 ; leadscrews at left (connected to Z) and right (connected to E0) of X axis

M350 X16 Y16 Z16:16 E16 I1                      ; configure microstepping with interpolation
M92 X80.00 Y80.00 Z1600:1600 E420        ; set steps per mm
M566 X900.00 Y900.00 Z200:200 E120      ; set maximum instantaneous speed changes (mm/min)
M203 X6000.00 Y6000.00 Z600:600 E1200 ; set maximum speeds (mm/min)
M201 X500.00 Y500.00 Z100:100 E250      ; set accelerations (mm/s^2)
M906 X500 Y500 Z800:800 E800 I30                ; set motor currents (mA) and motor idle factor in per cent
M84 S30                                         ; Set idle timeout

; Axis Limits
M208 X0 Y0 Z0 S1                                ; set axis minima
M208 X220 Y220 Z200:200 S0                          ; set axis maxima

; Endstops
M574 X S3
M574 Y S3
;M915 X R0 F0
;M915 Y R0 F0
M915 X Y R0 F0 S3 H200 ;main command need for sensorless homing
;M574 X1 S1 P"!io3.in"                            ; configure active-high endstop for low end on X via pin io0.in
;M574 Y1 S1 P"!io5.in"                            ; configure active-high endstop for low end on Y via pin io1.in
;M574 Z1 S1 P"!io6.in"            

; Z-Probe
M950 S0 C"io3.out"                           ; create servo pin 0 for BLTouch
M558 P9 C"^io3.in" H5 F120 T6000 A1 R0.2             ; set Z probe type to bltouch and the dive height + speeds
G31 P500 X24 Y-2 Z2                          ; set Z probe trigger value, offset and trigger height
M557 X24:210 Y20:200 P3:3                     ; define mesh grid

; Heaters
M308 S0 P"temp0" Y"thermistor" T100000 B4138    ; configure sensor 0 as thermistor on pin temp0
M950 H0 C"out0" T0                              ; create bed heater output on out0 and map it to sensor 0
M307 H0 B1 S1.00                                ; enable bang-bang mode for the bed heater and set PWM limit
M140 H0                                         ; map heated bed to heater 0
M143 H0 S120                                    ; set temperature limit for heater 0 to 120C
M308 S1 P"temp1" Y"thermistor" T100000 B4138    ; configure sensor 1 as thermistor on pin temp1
M950 H1 C"out1" T1                              ; create nozzle heater output on out1 and map it to sensor 1
M307 H1 B0 S1.00                                ; disable bang-bang mode for heater  and set PWM limit
M143 H1 S280                                    ; set temperature limit for heater 1 to 280C
M308 S2 P"temp2" Y"thermistor" T100000 B4138    ; configure sensor 2 as thermistor on pin temp2
M950 H2 C"out2" T2                              ; create nozzle heater output on out2 and map it to sensor 2
M307 H2 B0 S1.00                                ; disable bang-bang mode for heater  and set PWM limit
M143 H2 S280                                    ; set temperature limit for heater 2 to 280C

; Fans
M950 F0 C"out3" Q500                            ; create fan 0 on pin out3 and set its frequency
M106 P0 S0 H-1                                  ; set fan 0 value. Thermostatic control is turned off
M950 F1 C"out4" Q500                            ; create fan 1 on pin out4 and set its frequency
M106 P1 S0 H-1                                  ; set fan 1 value. Thermostatic control is turned off
M950 F2 C"out5" Q500                            ; create fan 2 on pin out5 and set its frequency
M106 P2 S0 H-1                                  ; set fan 2 value. Thermostatic control is turned off
M950 F3 C"out6" Q500                            ; create fan 3 on pin out6 and set its frequency
M106 P3 S0 H-1                                  ; set fan 3 value. Thermostatic control is turned off
M950 F4 C"40.out0" Q500
M106 P4 S0 H-1
M950 F5 C"io1.out" Q500
M106 P5 S0 H-1
M950 F6 C"io2.out" Q500
M106 P6 S0 H-1
M950 F7 C"io4.out" Q500
M106 P7 S0 H-1

; Tools
M563 P0 D0 H1 F0:1                              ; 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
;M563 P1 D1 H2 F3:2                              ; define tool 1
;G10 P1 X0 Y0 Z0                                 ; set tool 1 axis offsets
;G10 P1 R0 S0                                    ; set initial tool 1 active and standby temperatures to 0C

; Custom settings are not defined

; Miscellaneous
;M575 P1 S1 B57600                               ; enable support for PanelDue
M564 H1 S1

homex.g

M564 H0 S0; Permite movimentar sem home feito
M400 ; wait til stuff stops
M574 X1 Y1 S3 ; use stall guard for endstops
M913 X45 Y45  ; drop motor currents to 50%
G91 ; set relative
G1 Z5 F1200
G1 H4 X-240 F1200 ; move forward 250mm, stopping at the endstop
G1 X11 F1200; move away from end
G92 X0
G1 Z-5 F1200
G90 ; back to absolute positioning
M400 ; wait again
M913 X100 Y100  ; motor currents back to 100%
M564 H1 S1; Não permite movimentar sem home feito

homey.g

M564 H0 S0; Permite movimentar sem home feito
M400 ; wait til stuff stops
M574 X1 Y1 S3 ; use stall guard for endstops
M913 X50 Y50  ; drop motor currents to 50%
M201 X1000 Y1000 ; reduce acceleration on X/Y to stop false triggers
M915 P1 S3 R0 F0 H400; Sensitivity 3, don’t take action, don’t filter, 400steps/sec
G91 ; set relative
G1 Z5 F1200
G1 H4 Y-230 F4000 ; move forward 250mm, stopping at the endstop
G1 Y18 F1200; move away from end
G92 Y0
G1 Z-5 F1200
G90 ; back to absolute positioning
M400 ; wait again
M913 X100 Y100  ; motor currents back to 100%
M201 X3000 Y3000 ; accel back to original
;M574 X1 Y1 S0 ; set endstops back 
M564 H1 S1; Não permite movimentar sem home feito

homeall.g

M98 Phomex.g
M98 Phomey.g
M98 Phomez.g
G1 X0 Y0

homez.g

G91              ; relative positioning
G1 H2 Z5 F6000   ; lift Z relative to current position
G90              ; absolute positioning
G1 X86 Y112 F4800 ; go to first probe point
G30              ; home Z by probing the bed

I appreciate if anyone can help.

fcwilt

@rodrigormaraujo

Hi,

I don't use sensorless homing so I really have little to offer.

However you are using G1 H4 rather than G1 H1.

I have no idea if that would have any bearing on your problem or not.

Is there a reason you are using H4?

Frederick

RodrigoRMaraujo

Ah, I just switched to the 4 possible values of H in my attempts to get the sensorless to work. He ended up staying there.

fcwilt

@rodrigormaraujo said in Help with sensorless in duet 3 mini 5+:

Ah, I just switched to the 4 possible values of H in my attempts to get the sensorless to work. He ended up staying there.

I didn't think it would make a difference and it didn't.

So why are you using H4 instead of H1?

Frederick

Phaedrux

See the tips here: https://forum.duet3d.com/topic/24523/duet-3-mini-5-wifi-sensorless-homing-help

RodrigoRMaraujo

@fcwilt said in Help with sensorless in duet 3 mini 5+:

I didn't think it would make a difference and it didn't.
So why are you using H4 instead of H1?

I just haven't changed it yet.

RodrigoRMaraujo

@phaedrux
I had already read and verified everything in this post. I still have the same problem with him. I think he didn't solve it either, because I followed every step exactly. The X and motors continue to force after stopping, as if the stall does not work.
I corrected the parameters in config.g:
; Endtops

;Sensorless homing
M574 X1 S3 sets the X axis to low position, and the S value to multiple motor load detection
M574 Y1 S3 sets the Y axis to low position, and the S value to multiple motor load detection
M915 X Y R0 F0 S3 H200 ;main command need for sensorless homing

The tip of configuring M569 with D3 and V40 only made things worse, the engine became even more aggressive.

Phaedrux

@rodrigormaraujo said in Help with sensorless in duet 3 mini 5+:

M915 X Y R0 F0 S3 H200

H200? Is that really what your H value calculated out to? In your first post it's even H400. Your homing speed would have to be really chooching to get up to 400steps per second.

What kind of motors are these? Do you have the specs available?

dc42

@rodrigormaraujo said in Help with sensorless in duet 3 mini 5+:

M915 X Y R0 F0 S3 H200 ;main command need for sensorless homing

What happens when you try lower values than S3 in that command?

gloomyandy

@rodrigormaraujo If you want sensorless homing to work then you are going to need the V40 (or something like it) on your M569 commands. Without it the driver will switch to spreadcycle at a very low speed and stall detection (on the TMC2209 driver) only works when in stealthchop mode. The D3 is just setting explicitly what I think is already the default for the Mini 5+.

RodrigoRMaraujo

@phaedrux
I left the default value in the documentation.

Hnnn (optional) Minimum motor full steps per second for stall detection to be considered reliable, default 200

RodrigoRMaraujo

@gloomyandy said in Help with sensorless in duet 3 mini 5+:

If you want sensorless homing to work then you are going to need the V40 (or something like it) on your M569 commands. Without it the driver will switch to spreadcycle at a very low speed and stall detection (on the TMC2209 driver) only works when in stealthchop mode. The D3 is just setting explicitly what I think is already the default for the Mini 5+.

I put the V40 back without the D3. The behavior remains the same, except that the noise of the engine trying to force it after having already parked the car on the left becomes even louder.

RodrigoRMaraujo

@dc42 said in Help with sensorless in duet 3 mini 5+:

@rodrigormaraujo said in Help with sensorless in duet 3 mini 5+:

M915 X Y R0 F0 S3 H200 ;main command need for sensorless homing

What happens when you try lower values than S3 in that command?

It doesn't seem to change anything with S-60, S-10, S0, S3...
With S-60 only the engine looks weaker, as if it were using less force, but the behavior is the same.
I don't know if it helps but I'll post a video of what happens.

RodrigoRMaraujo

Gentlemen, I come here to thank you!
I just removed the H parameter from the M915, add S3 and everything worked beautifully! I also left the V40 in the M569 as my friend warned and I increased the homing speed from F1200 to F4000. It is perfect. Thank you very much to all of you!

YouTube
Duet 3 mini 5+ sensorless homing

dc42

@rodrigormaraujo thanks for reporting back! I'm glad you got it working.

RodrigoRMaraujo

@dc42 said in Help with sensorless in duet 3 mini 5+:

thanks for reporting back! I'm glad you got it working.

It was amazing, thanks again!