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1XD Closed Loop Servo Setup

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  • undefined
    alankilian @code7
    last edited by 12 Jul 2022, 21:12

    @code7

    Here's what I would do: (Step 1 of many)

    Disconnect the 1XD and connect the motor to the servo controller.

    Do not connect anything else to the servo.
    Apply power to the servo drive.
    What do you get for blinking lights or codes on the servo controller?

    Send us a photo of the setup.

    SeemeCNC Rostock Max V3 converted to V3.2 with a Duet2 Ethernet Firmware 3.2 and SE300

    1 Reply Last reply Reply Quote 0
    • undefined
      ShaunCro @code7
      last edited by ShaunCro 17 Jul 2022, 23:31

      @code7

      Hey Code,

      I have MOVEMENT! But only on the older drivers which are the ACS806

      Here's my config

      I changed my 1XD to address 20 so configure for your address

      ; Drives
      M569 P20.0 S1 R0 T5:5:5:5                    ; physical drive 20.0 goes forwards
      M569 P0.0 S1                                       ; physical drive 0.0 goes forwards
      M569 P0.1 S1                                       ; physical drive 0.1 goes forwards
      M569 P0.3 S1                                       ; physical drive 0.3 goes forwards
      M584 X20.0 Y0.0 Z0.1 E0.3                          ; set drive mapping
      M350 X16 I0                                       ; configure microstepping without interpolation
      M350 Y16 Z16 E16 I1                                ; configure microstepping with interpolation
      M92 X80.00 Y80.00 Z400.00 E420.00                ; set steps per mm
      M566 X6000.00 Y6000.00 Z60.00 E120.00              ; set maximum instantaneous speed changes (mm/min)
      M203 X120000.00 Y120000.00 Z180.00 E1200.00        ; set maximum speeds (mm/min)
      M201 X12000.00 Y12000.00 Z20.00 E250.00            ; set accelerations (mm/s^2)
      M906 Y300 Z800 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 X450 Y450 Z450 S0                             ; set axis maxima
      
      ; Endstops
      M950 J4 C"!^20.io0.in" ; create input pin number 4 on 1XD board at CAN address 20 for servo alarm. The alarm is active low so invert the input and enable the pullup to prevent spurious alarms caused by noise
      M950 P5 C"20.io0.out" ; create a GPIO pin number 5 on 1XD board at CAN address 20 for alarm reset
      M574 X1 J4 S2                                   ; configure sensorless endstop for low end on X
      M574 Y1 S3                                       ; configure sensorless endstop for low end on Y
      M574 Z1 S2                                       ; configure Z-probe endstop for low end on Z
      ; Custom settings are not defined
      M581 P4 S0 T3 R1 	 ; invoke trigger 3 when an active-to-inactive edge is detected on input 4 and a file is being printed from SD card
      

      This is still testing, so treat as test code. I'm still discovering, I do have to edit the Gear Numerator and Gear Denominator on the driver it self, which means you need your cable, I also had to set a few things in the driver for it to work, not sure what yours will be but here is a pic of what I set to get a few bits of rotation. I need to figure out what the gear denominator and numerator role play in this, also, I need to play with the timing in the config, but hey, it moves with no errors. So I'm chuffed for now.

      Wiring for this driver is very different than the eld5 I have, but, I needed the alarm+ and Alarm- connected to IO0.0 out with inverted and pulled up,

      55cf5064-d274-4b45-953c-c3843f45bce9-image.png

      Then all the dir+/- Pul+/- and Ena+/- to their corresponding pins, and my settings in the software for the driver are this

      4320c851-fa28-4769-aea7-9fdff0277f03-image.png

      I must say that the driver software for the ACS series of drivers is pure K@K. Nothing under the motor parameters saves. And It seems no one in leadshine believes in firmware updates 😐

      Will post as I figure out stuff hopefully to help.

      Lets just get one thing straight....

      You don't own a Delta! It's true, you don't!

      It owns you!

      undefined 1 Reply Last reply 19 Jul 2022, 07:35 Reply Quote 0
      • undefined
        ShaunCro @ShaunCro
        last edited by 19 Jul 2022, 07:35

        @shauncro I see my enable motor in the pic is active high, this should be set to low.

        But what I find weird, is I only get movement for a 1/4 of the motor, so 50mm to -250mm if I disable motors and turn it to the next pole, I can move with in that pole, but the numbers are different. 50-350 etc currently have my Gear numerator set 1:1 with the denominator. Motor movement is slow though.

        Lets just get one thing straight....

        You don't own a Delta! It's true, you don't!

        It owns you!

        undefined 1 Reply Last reply 4 Aug 2022, 18:00 Reply Quote 0
        • undefined
          code7 @ShaunCro
          last edited by 4 Aug 2022, 18:00

          @alankilian Thanks for double checking. Everything is connected properly.

          With everything connected or disconnected I am still receiving the blinking green light with no errors. I'm going to try a simpler motor/driver for now and I may come back to the Leadshine system later.

          @shauncro Thanks for the details. I tested your config.g and servo driver settings with my Leadshine setup and am not getting any movement. If I come back to this setup and have success I'll let you know.

          Delta Printer Using a Duet 2 Wifi v1.04c, FW3.4.0beta2, Duet WiFi sever 1.26, Duet Web Control 3.3.0

          undefined 2 Replies Last reply 5 Aug 2022, 19:01 Reply Quote 0
          • undefined
            alankilian @code7
            last edited by 5 Aug 2022, 19:01

            @code7 said in 1XD Closed Loop Servo Setup:

            Thanks for double checking. Everything is connected properly.
            With everything connected or disconnected I am still receiving the blinking green light with no errors. I'm going to try a simpler motor/driver for now and I may come back to the Leadshine system later

            If you want to send one motor driver and one motor to me I'll hook it up and getting working for you and send it back. No charge for postage or anything.

            I only have a Duet2, but getting it working on that system will certainly get it working on your system also.

            I've done this for other people in the past and have had success.

            I'm in Cambridge, MA so you can estimate postage.

            Let me know if you want to try this to get you a jumpstart on getting this working.

            SeemeCNC Rostock Max V3 converted to V3.2 with a Duet2 Ethernet Firmware 3.2 and SE300

            1 Reply Last reply Reply Quote 0
            • undefined
              code7
              last edited by 8 Aug 2022, 22:10

              That's really kind @alankilian. I'll let you know if I decide to try this again.

              Delta Printer Using a Duet 2 Wifi v1.04c, FW3.4.0beta2, Duet WiFi sever 1.26, Duet Web Control 3.3.0

              undefined 2 Replies Last reply 5 Oct 2022, 16:52 Reply Quote 0
              • undefined
                alankilian @code7
                last edited by alankilian 10 May 2022, 16:52 5 Oct 2022, 16:52

                @code7 OK, I've got your system setup on my bench.

                I can connect using the Leadshine software on a Windows-10 computer using a USB-to-RS232 and your cable and I can read values from the stepper driver and I can command motion and the motor turns.

                I also hooked up a pulse-generator and I can enable the stepper driver and the motor turns when I generate step signals.

                So...... I don't have a Duet-3 so I can't hook up the 1XD board you sent, but I'll hook up my Duet2 and see if I can get the motor to move using GCODE from the Duet2.

                SeemeCNC Rostock Max V3 converted to V3.2 with a Duet2 Ethernet Firmware 3.2 and SE300

                1 Reply Last reply Reply Quote 1
                • undefined
                  alankilian @code7
                  last edited by 5 Oct 2022, 19:17

                  @code7 I now have the Duet controlling the stepper motor through axis U driver 5 step/direction outputs.

                  I'll go back through this thread and see what I have hooked up differently than you did.

                  I really just hooked:

                  • Hooked PUL+ to Duet2 Step
                  • Hooked PUL- to Duet2 Ground
                  • Hooked DIR+ to Duet2 Direction
                  • Hooked DIR-- to Duet2 Ground
                  • Hooked ENA to Leadshine ground
                  • Hooked the COM+ to leadshine 24 Volts DC

                  I'll read some more and get back to you.

                  SeemeCNC Rostock Max V3 converted to V3.2 with a Duet2 Ethernet Firmware 3.2 and SE300

                  1 Reply Last reply Reply Quote 0
                  • undefined
                    alankilian @code7
                    last edited by 5 Oct 2022, 19:27

                    @code7 said in 1XD Closed Loop Servo Setup:

                    With everything connected or disconnected I am still receiving the blinking green light with no errors.
                    ...
                    Leadshine contacted me and recommended the Differential Connection option wired as follows:

                    03335e0b-d1fa-4a88-86a7-0830baa00198-image.png

                    The blinking green light means the Leadshine motor driver is not enabled.
                    The green light needs to be solid on when the driver is enabled.

                    You absolutely must NOT connect EN+ to COM-IN since COM-IN is between 24 and 70 Volts! You might have dodged a smoke-event because you may not have had a common ground between the 1XD and the Leadshine power supply.

                    I'll look in to how to hook up the enable properly and write again.

                    SeemeCNC Rostock Max V3 converted to V3.2 with a Duet2 Ethernet Firmware 3.2 and SE300

                    undefined 1 Reply Last reply 7 Oct 2022, 04:48 Reply Quote 0
                    • undefined
                      coseng
                      last edited by 5 Oct 2022, 22:12

                      I know you may have different hardware, but I have 2 Clearpath SDSK servo/steppers running from Duet step and direction outputs and they are providing awesome acceleration, no vibration and near zero noise at any speed.

                      They are a bit expensive and the specs are quite overkill, but they are highly recommended.

                      Chris
                      Cosentino Engineering

                      undefined 1 Reply Last reply 7 Oct 2022, 04:50 Reply Quote 0
                      • undefined
                        code7 @alankilian
                        last edited by 7 Oct 2022, 04:48

                        @alankilian Thanks for the update. Is there any other straightforward way to test the LeadShine encoder on the Duet2 or would you need a Duet3?

                        Delta Printer Using a Duet 2 Wifi v1.04c, FW3.4.0beta2, Duet WiFi sever 1.26, Duet Web Control 3.3.0

                        undefined 1 Reply Last reply 8 Oct 2022, 19:06 Reply Quote 0
                        • undefined
                          code7 @coseng
                          last edited by 7 Oct 2022, 04:50

                          @coseng said in 1XD Closed Loop Servo Setup:

                          They

                          Thanks - I'll keep this in mind for future projects.

                          Delta Printer Using a Duet 2 Wifi v1.04c, FW3.4.0beta2, Duet WiFi sever 1.26, Duet Web Control 3.3.0

                          1 Reply Last reply Reply Quote 0
                          • undefined
                            alankilian @code7
                            last edited by 8 Oct 2022, 19:06

                            @code7 Everything works perfectly using my Duet2.

                            I think you just had the enable signal hooked up incorrectly.

                            • Hook COM+ from the Leadshine to +5 Volts on the 1XD
                            • Hook DI3/ENA from the Leadshine to the enable output on the 1XD

                            After that, you should be ready to roll.

                            I'll ship everything back to you soon.

                            SeemeCNC Rostock Max V3 converted to V3.2 with a Duet2 Ethernet Firmware 3.2 and SE300

                            undefined 1 Reply Last reply 11 Oct 2022, 22:34 Reply Quote 1
                            • undefined
                              code7 @alankilian
                              last edited by 11 Oct 2022, 22:34

                              @alankilian I sure appreciate your help on this. Thanks

                              Delta Printer Using a Duet 2 Wifi v1.04c, FW3.4.0beta2, Duet WiFi sever 1.26, Duet Web Control 3.3.0

                              1 Reply Last reply Reply Quote 0
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