Help with sensorless in duet 3 mini 5+

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!