1HCL closed loop mode motor not turning

Garth_42

Hi all,

I am attempting to set up closed loop motor control with the 1HCL on the Duet3 MB6HC and have commissioned the motor in open-loop mode successfully. After this, I try to switch it to closed-loop mode and the motor doesn't turn at all. When I send configuration commands I am not getting any errors from the console. When I attempt closed loop tuning, I get an error that the measured motion was less than expected (which makes sense). I am using an off-the-shelf stepperonline closed-loop motor (17E1K-07) with 4000CPR and 1.8deg/step. All the firmware on the mainboard, DWC, and expansion is on 3.5.3.

I have been following the docs to setup the 1HCL and here are the G-Codes that I am using for configuration.

Open-loop (working):

M569.1 P123.0 T2 C4000 S200 R100 I0 D0 E4:6 ; Configure the 1HCL board at CAN address 123 with a quadrature encoder on the motor shaft that has 4000 PPR with a motor with 200 full steps per revolution (1.8degrees).
M569 P123.0 D2 S1 ; spreadcycle mode (open loop)
M584 X123.0 ; set X driver
M906 X1000 ; set the max current to use for X
M917 X0 ; Set the closed loop axes to have a holding current of zero
M92 X80 ; steps/mm
G92 X0

Closed loop (motor not turning at all):

M569.1 P123.0 T2 C4000 S200 R100 I0 D0 E4:6 ; Configure the 1HCL board at CAN address 123 with a quadrature encoder on the motor shaft that has 4000 PPR with a motor with 200 full steps per revolution (1.8degrees).
M569 P123.0 D4 S1 ; Configure the motor on the 1HCL at can address 123 as being in closed-loop drive mode (D4) and not reversed (S1)
M584 X123.0 ; set X driver
M906 X1000 ; set the max current to use for X
M917 X0 ; Set the closed loop axes to have a holding current of zero
M92 X80 ; steps/mm
G92 X0

Please let me know if you have any input on how to debug further.

Best,
Garth