Duet 1HCL Nema 34 tuning problem

tom33

@dc42
and sometimes the tuning works and other time no

tom33

@dc42 @Phaedrux @T3P3Tony
G28 X
M291 S3 R"Home X" P"Voulez-vous exécuter le Home X ?"
T-1
M17
G4 S0.5
M569 P10.0 D0
G4 S0.5
G91 ; relative positioning
G1 H1 X-540 F1200 ; move quickly to X axis endstop and stop there (first pass)
G1 X5 F1200 ; go back a few mm
G4 S0.5
M400
M569 P10.0 S1 D5 ; Switch to closed loop mode
M569.6 P10.0 V1 ; Perform the calibration manoeuvre for a quadrature shaft encoder
G91 ; relative positioning
M400
G4 S1.5
G1 H1 X-10 F1200 ; move quickly to X axis endstop and stop there (first pass)
G1 X5 F1200 ; go back a few mm
G1 H1 X-6 F600 ; move slowly to X axis endstop once more (second pass)
G1 X5 F1200

tom33

@tom33 driver configuration in config.g

; Drives
G4 S5
M569.1 P10.0 T2 C1000 P30 I1000 D0.05 A1000 V0                                   ; Driver 10.0 Axe X )
;G4 S1
M569.1 P20.0 T2 C1000 ;R200 ;P35 I3750 D0.075 A400000 V1000                                         ; Driver 20.0 Axe Y - Gauche )
;G4 S1
M569.1 P25.0 T2 C1000 ;R200 ;P35 I3750 D0.075 A400000 V1000                                         ; Driver 25.0 Axe V - Droit)
;G4 S1
M569.1 P30.0 T2 C1000                                         ; Driver 30.0 Axe Z - Gauche)
;G4 S1
M569.1 P35.0 T2 C1000                                         ; Driver 35.0 Axe W - Droit )
M569.7 P30.0 C"30.out1"
M569.7 P35.0 C"35.out1"

M569 P10.0 S1 D5
M569 P20.0 S0 D5
M569 P25.0 S0 D5
M569 P30.0 D5 S0
M569 P35.0 D5 S0
; set drive mapping
M584 X10.0 Y20.0:25.0 Z30.0:35.0 V25.0 W35.0
M917 X50 Y50 Z50

M92 X161 Y158.4 Z640 V158.4 W640                                       ; set steps per mm
M566 X1000 Y1000 Z20 V1000 W20                                          ; set maximum instantaneous speed changes mm/min)
M203 X18000 Y18000 Z1500 V18000 W1500                                ; set maximum speeds (mm/min)
M201 X1000 Y1000 Z25 V2500 W25                                          ; set accelerations (mm/s^2)
M906 X5000 Y5000 V5000 Z4000 W4000

dc42

@tom33 please post the model number of the motor or a link to its datasheet.

tom33

@dc42
They are motor from leadshine :
CS-M22331-L - https://www.leadshine.com/product-detail/CS-M22331-L.html
CS-M23445B - https://www.leadshine.com/product-detail/CS-M23445B.html

Thanks !

dc42

@tom33 thanks. Is your machine Cartesian, CoreXY, or something else? Do you have one motor per axis, or more than one?

It seems odd to me that sometimes tuning succeeds with low backlash (just over 0.1 steps) and at other times it fails with much higher backlash (more than 0.3 steps).

dc42

PS currently you are switching into assisted open loop mode (M569 P10.0 D5) prior to running the tuning command. Have you tried using closed loop mode (D4) instead?

tom33

@dc42 it's cartesian, I have 1 motor on the X axis and 2 motors in the Y axis

Yes it's very strange the backlash is never the same, I have also the same issue on nema 17 in other machine.

dc42

@tom33 did you try D4 instead of D5 ?

tom33

@dc42
Yes still the same problem with D4

tom33

@dc42 ![alt text]( image url)

again the same problem

Dutchprinting

Having the same problem here, cant get my Nema34's tuned correctly, incosistent tuning backlash and so on.

motors i'm using: https://www.omc-stepperonline.com/p-series-nema-34-closed-loop-stepper-motor-12nm-1700oz-in-with-with-electromagnetic-brake-34e1kbk50-120
Datasheet: https://www.omc-stepperonline.com/download/34E1KBK50-120.pdf

Ran through the documentation about 15 times now, including the full tuning guide. but still no succes.
It runs in closed loop tho, only with alot of vibrations and oscilations.