Duet 3 Mini 5+ sensor less homing setup and tune help required
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Hi setting up a new custom core xy , the Z axis is belt driven on a 4:1 gear box .
M122
=== Diagnostics ===
RepRapFirmware for Duet 3 Mini 5+ version 3.3 (2021-06-15 21:46:11) running on Duet 3 Mini5plus WiFi (standalone mode)
Board ID: 3R9YY-6T9RL-D65J0-40KMN-2UW2Z-RHYT0
Used output buffers: 3 of 40 (22 max)config.g
; generated by RepRapFirmware Configuration Tool v3.3.10 on Thu Dec 30 2021 11:07:38 GMT+1300 (New Zealand Daylight Time); General preferences
G90 ; send absolute coordinates...
M83 ; ...but relative extruder moves
M550 P"3030 V001" ; set printer name
M669 K1 ; core xy
G29 S1 ; Set Units to Millimeters; Network
M552 S1 ; enable network
M586 P0 S1 ; enable HTTP
M586 P1 S0 ; disable FTP
M586 P2 S0 ; disable Telnet; Drives
M569 P0.0 S1 ; physical drive 0 goes forwardsM569 P0.1 S1
M569 P0.1 S1 ; physical drive 1 goes forwardsM569 P0.1 S1
M569 P0.2 S1 ; physical drive 2 goes forwards
M569 P0.3 S1 ; physical drive 3 goes forwards
M569 P0.4 S1 D3 ; physical drive 4 goes backwards D3=stealthchop
M569 P0.5 S0 D3 ; physical drive 5 goes forwards
M569 P0.6 S1 D3 ; physical drive 6 goes forwardsM584 X0.1 Y0.0 E0.3 Z0.4:0.5:0.6 ; set drive mapping FL,FR,RC
M350 X16 Y16 Z16 E16 I1 ; configure microstepping with interpolationM92 X80.00 Y80.00 Z400.00 E100.00 ; set steps per m
M566 X400.00 Y400.00 Z60.00 E900.00 P1 ; set maximum instantaneous speed changes (mm/min)
M203 X6000.00 Y6000.00 Z3000.00 E1200.00 ; set maximum speeds (mm/min)
M201 X1000.00 Y1000.00 Z600.00 E250.00 ; set accelerations (mm/s^2)
M906 X800 Y800 Z800 E600 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 X300 Y300 Z300 S0 ; set axis maxima; Endstops
M574 X1 S1 P"io0.in" ; configure switch-type (e.g. microswitch) endstop for low end on X via pin io0.in
M574 Y1 S1 P"io1.in" ; configure switch-type (e.g. microswitch) endstop for low end on Y via pin io1.in
;M574 Z2 S2 P"!io4.in" ; != invert signal
M574 Z2 S4 ; configure sensorless endstop for high end on Z, 1 = low end, 2 = high end. S4 multipule motors
M915 P0.4:0.5:0.6 S10 F1 R1
; 3Z
M671 X-10:320:155 Y-10:-10:320 S25 ; leadscrews at front left,front right, rear Center s= max correction factor must be in same order as M584; Sensorless config
;M915 P0.4:0.5:0.6 S-50 F0 R0 ; Lower values less sensitive S3, F filter, R =Action; Z-Probe
M558 P1 C"io3.in" H5 F300 T6000 ; set Z probe type to unmodulated and the dive height + speeds
G31 P500 X0 Y0 Z2.5 ; set Z probe trigger value, offset and trigger height
M557 X15:215 Y15:195 S20 ; define mesh grid; Heaters
M308 S0 P"bedtemp" Y"thermistor" T100000 B4138 ; configure sensor 0 as thermistor on pin bedtemp
M950 H0 C"bedheat" T0 ; create bed heater output on bedheat 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"e0temp" Y"thermistor" T100000 B4138 ; configure sensor 1 as thermistor on pin e0temp
M950 H1 C"e0heat" T1 ; create nozzle heater output on e0heat 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; Fans
M950 F0 C"fan0" Q500 ; create fan 0 on pin fan0 and set its frequency
M106 P0 S0 H-1 ; set fan 0 value. Thermostatic control is turned off
M950 F1 C"fan1" Q500 ; create fan 1 on pin fan1 and set its frequency
M106 P1 S1 H1 T45 ; set fan 1 value. 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
Macro to home Z at max
M400
;M913 Z50 ; make sure everything has stopped before we make changes
M906 Z300
G91 ; relative positioning
G1 H2 Z0.01
M400
G4 P200
M915 P0.4:0.5:0.6 S-63 F0 R0 ; Configure Z-Axis Stall Detection
M574 Z2 S4
G4 P200
G91 ; relative positioning
G1 F3000
G1 H1 Z350 ; Home Z-Axis actuators independently
M400 ; make sure everything has stopped before we make changes
M906 Z600 ; Reset motor current
G90 ; absolute positioning
G92 Z301The issue i have is that the motors are not turning of(stall detection) when they hit the end stops, i have tried the S value from -63 to +63 .
Any help would be appreciated .
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I think you will find trying to home multiple Z motors with stall detection exceedingly difficult especially through the extra compliance of the gear box.
It looks like you have a probe configured, why not use that?
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@phaedrux thanks for the reply but not an option for this design as i need all the i/o inputs for other things
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@moth4017 Let us know how it goes.
I'm also thinking it's going to be tough to do stall detection through a 4:1 gearbox, so if you get it working, please post the details of your settings here.
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@alankilian I will post up the files when i have it working, ive been trying to sort this problem out for days now, works on the duet2 ok , but it seems the TMC2209 that seems to be making it more difficult.
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My Stepper motor Details
stepper motor XY42STH40-1684A
2.8V
1.68A
1.65 Ohms/Phase
3.2mH/Phase
3.6 g/cm holding torque
54 g/cm ^2 Rotor Inertia
Weight 280g
150 g/cm Detent Torque -
Are you trying to stall it against the print head or the z max end of travel?
@moth4017 said in Duet 3 Mini 5+ sensor less homing setup and tune help required:
M558 P1 C"io3.in" H5 F300 T6000 ; set Z probe type to unmodulated and the dive height + speeds
@moth4017 said in Duet 3 Mini 5+ sensor less homing setup and tune help required:
i need all the i/o inputs for other things
But you have a probe defined...
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@phaedrux
stalling Z at Max to make sure the Bed is close to level on switch/on before doing the 3 Point tramming etc -
Try higher speeds? There needs to be enough back emf to detect a stall.
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@phaedrux Iev tried a few speeds and i did get one of the 3 motors to stall ( this turned out to be a mechanical issue )2 motors went to the physical end stops "skipped steps for 4 seconds" then stopped.
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How out of tram do you expect it to become before doing the auto leveling?
If it's bottoming out at the physical stop doesn't that have the same effect?
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@phaedrux if the Bed goes to Z max the motors make a horrible noise until they all time out, not very elegant when the Stall feature ( sensorless homing) is exactly what i require .
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@moth4017 I am sending z to max to get the bed in a 90% tram position before doing the auto Tram/bed level, the issue i have is that when the power is removed the bed will become out of tram so sending to Z max gets me in the 90% correct position.
Hence the sensor less homing require for Z max with multiple motors. i dont have enough inputs to install 3 extra limit switches .
