Can't run the stepper with 1hcl board

dc42

@tino_ber48 are you able to run it in both open loop and closed loop modes now?

tino_ber48

@dc42
I just can run the Stepper when the magnetic encoder isnt connected. I'm also Not Sure where i should connect the Encoder. I also don't know if the Stepper i use is compatible cause everytime when i read stuff About the magnetic Encoder and 1hlc i read duet mangnetic Encoder pcb which will released soon . Cause when i connect them the stepper don't move anymore.

dc42

@tino_ber48 I suspect that either you have connected the encoder incorrectly to the 1HCL, or the encoder is faulty and is shorting out the 5V supply. You should connect the encoder to the 5-pin quadrature encoder connector (the ribbon cable connector is for the Duet3D magnetic encoder only), as follows:

Red +5V
Black Gnd
Brown A
Blue B
Yellow N

Leave the other 3 wires not connected.

tino_ber48

@dc42
Thanks dc42 for the instructions on how to wire it correctly.
I'm still a bit confused about the settings in the config. when the talk about
magnetic encoder is in the documentation every time it talks about the future Duet own PCB? or is there actually talk about a magnetic encoder?
for example
M569.1 T3 is only for Duet3D Magnetic encoder
For me, that means I have to take T2 because I also have the encoder connected to the quadrature connection, right? although the motor has a magnetic encoder. the C value should be 1000 because I have rrf3.5 but in the description it doesn't say for magnetic encoder is that meant for everyone or just related to the Duet3D magnetic encoder?

Because if I have M569.1 T2 C1000 S200 in the config, I can't calibrate the magnetic encoder via M569.6 P50.0 V2.
I think it may have been overlooked, but the motor I mentioned above is a closed loop motor with magnetic encoder 1000ppr and not a motor with quadrature encoder. I'm not that deep into it to differentiate between the different feedback signals, but the mechanical structure is different. which also surprises me why I should put the magnetic encoder at the input for quadrature encoders on the 1hcl. I'm probably just acting stupid, but it's a bit confusing that sometimes there's talk about Duet3D magnetic motor shaft encoder using AS5047D and then in other parts of the documentation it reads as if it's about the general encoder type :magnetic encoder.

I apologize for the long text but I hope you know what I mean even if my English is very bad.

dc42

@tino_ber48 said in Can't run the stepper with 1hcl board:

For me, that means I have to take T2 because I also have the encoder connected to the quadrature connection, right?

Are you using both a linear quadrature encoder on the axis, and a magnetic encoder on the motor? That combination will only work using the Duert3D magnetic encoder, because the 1HCL has only one quadrature decoder on board. The Duet3D magnetic encoder communicates via SPI instead.

tino_ber48

@dc42
No it's just the Stepper with a magnetic Encoder which i Drive on one axis without a linear quadrature.

What we wanna get as result is simular like the mechaduino project in the torque mode.

https://www.youtube.com/embed/uq9ZJWuTsds?clip=Ugkx4I3FEcsEPU6SOjQ68ovi2u47xS2jaeaA&clipt=EPeqAhiV7QI

this video show's what we try to get. we want to fake a springload which is controllable via the software without losing the original position.
and i thougt the M569.1 Hn.n would be the way we could controll the torque (in our case the fakespring load)

tino_ber48

@dc42 @T3P3Tony
Ok I think we can close the request. The main question in the first post was whether the motor is compatible to use it as a closed loop motor with the 1HCL board. The answer seems to be no since the board only supports "quadrature encoder" or "Duet3D magnetic shaft encoder" and my stepper is a closed loop stepper with magnetic encoder. Please correct me if I read that wrong from the HCL board documentation.

T3P3Tony

@tino_ber48 the magnetic encoder in the datasheet you linked has a quadrature output so it should work with the 1HCL.

Currently the closed loop firmware on the 1HCL only supports position mode. torque mode would be a feature request for a future version.

tino_ber48

@T3P3Tony
Thanks for that info, I actually didn't know that. I thought these two types differ with the big feature that one has a magnet on the shaft and the polarity is recognized (magnetic shaft encoder) and incremental encoder where a disc is on the shaft which gives the position to a reading head (quadrature).
The calibration "M569.6 v1" worked and at that point i always had my doubts because it is a magnetic encoder that actually needs v2 but then an error came up. But with your information i don't need v2
But now everything works.

And if I first

M906 U600                 ; U-CL Stepper
M569.6 P50.0 V1           ;than calibrate
M906 U150                 ;drop the current

can i determine the torque perfect!
I only have to increase the mA to calibrate, otherwise it will give a measurement error.
@dc42 Many thanks to you both you helped me a lot!!!

dc42

@tino_ber48 I'm glad you got it working. I updated the documentation a few days ago to read "Duet3D magnetic shaft encoder" in place of "Magnetic shaft encoder" in several places.

Calibration is best done at or near maximum current in order to minimise backlash.