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    1HCL Closed Loop Issues

    Scheduled Pinned Locked Moved
    Tuning and tweaking
    closed loop 1hcl
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    • samlogan87undefined
      samlogan87
      last edited by

      Hey everyone,

      I have finally got my new motors into my printer. I have just got them from LDO and they have the following specs:

      0.9 degree
      0.9 Ohm
      1.8mH Inductance
      45N.cm
      2.4A
      2500CPR encoder

      I have set them up and wired them with the pre terminated wires from LDO for the Duet board which was awesome as I had to do no crimping.

      That was the easy bit. Now onto the world of hurt I have been putting myself through for the past 4 hours.

      Below is an excerpt from my config file for the x and y:

      ;X and Y
      M569.1 P10.0 T2 C7.81 R100 I0 D0 E5:10                                  ; Configure the 1HCL board at CAN address 10 with a quadrature encoder on the motor shaft that has 20 steps per motor full step
      M569 P10.0 D4 S0														; Configure the motor on the 1HCL at can address 50 as being in closed-loop drive mode (D4) and not reversed (S0)
      M569.1 P11.0 T2 C7.81 R100 I0 D0 E5:10                                  ; Configure the 1HCL board at CAN address 11 with a quadrature encoder on the motor shaft that has 20 steps per motor full step											
      M569 P11.0 D4 S0														; Configure the motor on the 1HCL at can address 51 as being in closed-loop drive mode (D4) and not reversed (S0)
      M584 X10.0 Y11.0														; Set Drive Mapping
      M350 X16 Y16 I1															; configure microstepping
      M92 X160 Y160 															; Set Steps Per mm
      M566 X800 Y800 															; Set Jerk
      M203 X36000 Y36000 														; Set Max Speed
      M201 X20000 Y20000 														; Set Max Accel
      M906 X2200 Y2200 														; Set Motor Current
      M917 X0 Y0 																; Set the closed loop axes to have a holding current of zero
      

      and my homing files are

      ; homex.g
      ; called to home the X axis
      M569 P10.0 D0           ; Turn off closed loop
      M569 P11.0 D0
      
      G91                     ; relative positioning
      G1 H2 Z5 F6000          ; lift Z relative to current position\
      G1 H1 Y-368.5 F3000 
      G1 H1 X-368 F3000       ; move quickly to X axis endstop and stop there (first pass)
      G1 H2 X5 F6000          ; go back a few mm
      G1 H1 X-240 F240        ; move slowly to X axis endstop once more (second pass)
      
      G90                     ; absolute positioning
      G1 X50 F3000            ; Move to a known-safe position
      M400                    ; Wait for the move to complete
      G4 P500                 ; Wait for the motor to settle
      M569 P10.0 D4           ; Turn closed loop back on
      M569.6 P10.0 V1         ; Perform the tuning manoeuvres for a quadrature encoder
      G1 X0                   ; Move back to X0
      
      G1 H2 Z0 F6000          ; lower Z again
      
      ; homey.g
      ; called to home the X axis
      
      M569 P11.0 D0           ; Turn off closed loop
      
      
      G91                     ; relative positioning
      G1 H2 Z5 F6000          ; lift Z relative to current position
      G1 H1 Y-380 F3000       ; move quickly to X axis endstop and stop there (first pass)
      G1 H2 Y5 F6000          ; go back a few mm
      G1 H1 Y-240 F240        ; move slowly to X axis endstop once more (second pass)
      
      G90                     ; absolute positioning
      G1 Y50 F3000            ; Move to a known-safe position
      M400                    ; Wait for the move to complete
      G4 P500                 ; Wait for the motor to settle
      M569 P11.0 D4           ; Turn closed loop back on
      M569.6 P11.0 V1         ; Perform the tuning maneuvers for a quadrature encoder
      G1 Y0                   ; Move back to X0
      
      G1 H2 Z0 F6000          ; lower Z again
      

      Some people will probably point out that in my X homing, I home Y first. This is intentional at the moment as I have a x switch that is attached to the frame so need to home Y to make sure that the carriage hits the switch. I then always home Y regardless.

      The issue I am having is I always fail the tuning after it has homed, stating for both axis

      Warning: Driver 11.0 warning: tuning failed
      Warning: Driver 11.0 new tuning error(s): The measured motion was less than expected; counts/step is about 6.12.
      

      And because of it, I can not run the printer. Can anyone please point me to where I might be going wrong. It is a CoreXY printer.

      Sam

      Custom Core-XY

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      • samlogan87undefined
        samlogan87
        last edited by

        Managed to figure it out. In all of my playing around I forgot to change the C parameter back. Now to deal with the tuning as it is sitting there humming

        Sam

        Custom Core-XY

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