Closed loop noise/oscillation
-
Hi,
i installed two 1hcl boards with magnetic encoders on two A B stepper motors from my core xy printer. I use two LDO-42STH48-2504AC stepper motors with 48V power supply. My problem now is that I can't get rid of slight oscillations without the stepper motors sounding like a starting jet.
However, if I use a lower P therm:
- almost no oscillations
- quieter motors at standstill and lowspeeds
- higher step error at high speeds
Higher P therm:
- slight oscillations
- loud motors at standstill and lowspeeds
- lower step error at high speeds
Higher D therm:
- no oscillations
- motor sound like a starting jet
- almost no step error
I run the steppers with 2,5A. Is there a way to tune the stepper drivers? How can i reduce noise/oscillation at standstill/lowspeeds but get the best results at high speeds?
Thanks for help!
-
Here`s my config:
; Configuration file for RepRapFirmware on Duet 3 Mini 5+ WiFi ; executed by the firmware on start-up ; ; generated by RepRapFirmware Configuration Tool v3.5.5 on Mon Nov 18 2024 20:57:08 GMT+0100 (Mitteleuropäische Normalzeit) ; General G90 ; absolute coordinates M83 ; relative extruder moves M550 P"CR20NG" ; set hostname M911 S19.8 R22 P"M913 X0 Y0 G91 M83 G1 Z3 E-5 F1000" ; set voltage thresholds and actions to run on power loss ; Accessories M575 P1 S0 B57600 ; configure PanelDue support ; Network M552 S1 ; configure WiFi adapter M586 P0 S1 ; configure HTTP ; Can Board G4 S2 ; wait for expansion boards to start ; Y Axis M569.1 P50.0 T3 E2:3 R30 I1500 D0.05 A85000 V600 ; Configure the Duet 3 Expansion 1HCL board with a Duet 3 magnetic encoder, warn if 1 fullstep threshold exceeded, error if 2 full steps threshold exceeded. M569 P50.0 D4 S1 ; Configure the motor on the Duet 3 Expansion 1HCL controller as being in closed-loop drive mode (D4) and not reversed (S1) M584 Y50.0 ; set X drivers M584 Y50.0 ; set axis mapping M350 Y16 I1 ; configure microstepping with interpolation M92 Y80 ; configure steps per mm M906 Y2500 I30 ; set axis driver currents M208 Y0:248 ; set minimum and maximum axis limits ; X Axis M569.1 P51.0 T3 E2:3 R30 I1500 D0.05 A90000 V700 ; Configure the Duet 3 Expansion 1HCL board with a Duet 3 magnetic encoder, warn if 1 fullstep threshold exceeded, error if 2 full steps threshold exceeded. M569 P51.0 D4 S1 ; Configure the motor on the Duet 3 Expansion 1HCL controller as being in closed-loop drive mode (D4) and not reversed (S1) M584 X51.0 ; set Y drivers M584 X51.0 ; set axis mapping M350 X16 I1 ; configure microstepping with interpolation M92 X80 ; configure steps per mm M906 X2500 I30 ; set axis driver currents M208 X0:232 ; set minimum and maximum axis limits ; Z Axis M569 P0.0 S1 D3 V0 ; driver 0.0 goes backwards (Z axis) M584 Z0.0 ; set axis mapping M350 Z16 I1 ; configure microstepping with interpolation M92 Z800 ; configure steps per mm M906 Z2000 I30 ; set axis driver currents M208 Z0:230 ; set minimum and maximum axis limits ; All Axes M203 X700000 Y700000 Z1000 ; set maximum speeds (mm/min) M566 X3000 Y3000 Z60 P1 ; set maximum instantaneous speed changes (mm/min) M201 X10000 Y10000 Z400 ; set accelerations (mm/s^2) M201.1 X200 Y200 Z50 ; set special move accelerations (mm/s^2) ; Extruders M569 P124.0 S1 D2 ; driver 124.0 goes forwards (extruder 0) M584 E124.0 ; set extruder mapping M350 E16 I1 ; configure microstepping with interpolation M906 E1200 ; set extruder driver currents M92 E685.4 ; configure steps per mm M566 E300 ; set maximum instantaneous speed changes (mm/min) M203 E7200 ; set maximum speeds (mm/min) M201 E3000 ; set accelerations (mm/s^2) ; Accelerometers/Input Shaping M955 P124.0 I16 ; configure accelerometer on board #124 M593 P"EI3" F27,5 ; PZ Probe M558 K0 P8 C"!124.io1.in" R0.5 F1000 B1 A2 H6 S0.03 ; analogue mode, 0.5 sec delay, 400mm/min dive speed, turn off heater during probing, two probes per point, 5mm Dive Height. G31 K0 X0 Y0 Z-0.05 P100 ; Set probe offset from XYZ to Zero M557 K0 X5:228 Y0:222 P5:5 ; define bed mesh ; Trigger M950 J1 C"124.io0.in" ; define logical input for filament auto load M581 P1 T2 S1 R0 ; define trigger for filament auto load triggers trigger2.g M950 J2 C"124.io2.in" ; define logical input for filament unload M581 P2 T3 S1 R2 ; define trigger for filament unload triggers trigger3.g ; Kinematics M669 K1 ; configure CoreXY kinematics ; Endstops M574 X1 S3 ; configure X axis endstop M574 Y2 S1 P"51.io0.in" ; configure Y axis endstop M574 Z1 S2 ; configure Z axis endstop ; Sensors M308 S0 P"temp0" Y"thermistor" A"Heated Bed" T100000 B3950 ; configure sensor #0 M308 S1 P"124.temp0" Y"thermistor" A"Nozzle" T100000 B4725 C7.06e-8 ; configure sensor #1 M308 S2 P"124.temp1" Y"thermistor" A"Chamber" T100000 B4092 ; configure sensor #2 M308 S3 P"50.temp1" Y"thermistor" A"B Stepper" T100000 B3950 ; configure sensor #3 M308 S4 P"51.temp1" Y"thermistor" A"A Stepper" T100000 B3950 ; configure sensor #4 ; Heaters M950 H0 C"out0" T0 ; create heater #0 "Bed" M143 H0 P0 T0 C0 S125 A0 ; configure heater monitor #0 for heater #0 M307 H0 R0.876 K0.393:0.000 D7.03 E1.35 S1.00 B0 ; PID parameters heater 0# M950 H1 C"124.out0" T1 ; create heater #1 "Nozzle" M143 H1 P0 T1 C0 S305 A0 ; configure heater monitor #0 for heater #1 M307 H1 R3.475 K0.467:0.585 D2.27 E1.35 S1.00 B0 ; PID parameters heater 1# ; Heated beds M140 P0 H0 ; configure heated bed #0 ; Tools M98 P"revo/config.g" D0 H1 F0 ; Fans M950 F0 C"124.out2" ; create fan #0 M106 P0 C"Part Cooling" S0 L0 X1 B0.1 ; configure fan #0 M950 F1 C"124.out1" ; create fan #1 M106 P1 C"Heatbreak" S0 B0.1 H1 T70 ; configure fan #1 M950 F3 C"!out3" ; create fan #3 M106 P3 C"6015 Cooling" S0 ; configure fan #3 M950 F4 C"50.out0" ; create led #4 M106 P4 C"LED" S0 ; configure led #4 M950 F8 C"51.out0" ; create led #4 M106 P8 C"LED1" S0 ; configure led #4 M950 F5 C"out5" ; create fan #5 M106 P5 C"Chamber Heater" S0 L0 X1 B0.5 ; configure fan #5 M950 F6 C"out6" ; create fan #6 M106 P6 C"Air Filtration" S0 B0.1 ; configure fan #6 M950 F7 C"!out4+out4.tach" ; create fan #3 M106 P7 C"Chamber Exhaust" S0 ; configure fan #3 ; Extra configs/globals if !exists(global.runtime) M98 P"0:/sys/time/runtime.g" if !exists(global.myTimeStamp) M98 P"0:/sys/time/maintenanceLog.g" M106 P4 S1 ; LED ON M106 P8 S1 ; LED1 ON M106 P3 S0.2 ; turns on the electronics bay fan global filamentType = "" ; filament type global unloadTemp = 235 ; unload temperature global exhaustFan = 0.13 ; chamber exhaust fan global exhaustFanPrint = 0.13 ; chamber exhaust fan while printing global bedFan = 0 ; bed fan T0 M703Here is M122 from one board:
m122 b51 Diagnostics for board 51: Duet EXP1HCL rev 1.0a or earlier firmware version 3.5.4 (2024-11-24 10:39:28) Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10) All averaging filters OK Never used RAM 45616, free system stack 186 words Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,165) CLSend(3,nWait 6,0.0%,147) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,65) CanClock(5,nWait 1,0.0%,64) TMC(4,nWait 6,67.1%,325) MAIN(1,running,30.6%,261) IDLE(0,ready,1.0%,29) AIN(2,nWait 2,1.1%,255), total 100.0% Owned mutexes: Last reset 00:01:39 ago, cause: software Last software reset data not available Driver 0: pos 0, 80.0 steps/mm, ok, SG min n/a, mspos 8, reads 3184, writes 46433 timeouts 0, steps req 0 done 0 Moves scheduled 0, completed 0, in progress 0, hiccups 0, segs 0, step errors 0, maxLate 0 maxPrep 0, maxOverdue 0, maxInc 0, mcErrs 0, gcmErrs 0, ebfmin 0.00 max 0.00 Peak sync jitter -8/7, peak Rx sync delay 188, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4220425770 ticks, disabled VIN voltage: min 48.5, current 48.5, max 48.6 V12 voltage: min 12.1, current 12.1, max 12.1 MCU temperature: min 26.6C, current 26.8C, max 26.8C Last sensors broadcast 0x00000010 found 1 164 ticks ago, 0 ordering errs, loop time 0 CAN messages queued 1593, send timeouts 0, received 1671, lost 0, errs 0, boc 0, free buffers 38, min 38, error reg 0 dup 0, oos 0/0/0/0, bm 0, wbm 0, rxMotionDelay 0 Closed loop driver 0 mode: closed loop, pre-error threshold: 2.00, error threshold: 3.00, encoder type rotaryAS5047, position -338 Encoder reverse polarity: no, full rotations -1, last angle 16044, minCorrection=-11.3, maxCorrection=7.0, agc 74, mag 4688, no error Tuning mode: 0, tuning error: 0, collecting data: no Control loop runtime (us): min=2, max=62, frequency (Hz): min=9259, max=14423 Accelerometer: none I2C bus errors 6, naks 0, contentions 0, other errors 0 -
@Tech_Sam03 have you tried slightly lower P and slightly higher D?
Duet WiFi hardware designer and firmware engineer
Please do not ask me for Duet support via PM or email, use the forum
http://www.escher3d.com, https://miscsolutions.wordpress.com -
This post is deleted! -
This post is deleted! -
undefined Tech_Sam03 marked this topic as a question
-
undefined Tech_Sam03 has marked this topic as solved
-
undefined Tech_Sam03 marked this topic as a regular topic
