Closed Loop Calibration Error

btmclain

Hello,

I am using a 1HCL expansion board, trying to get closed loop control of a stepper motor with magnetic encoder working. The motor runs without problem in Open Loop Mode. Switching to closed loop mode, we receive an error when running calibration M569.6. When running M569.6 P50.0 V2 we receive "Error: driver is not in direct mode". Any help would be appreciated. Configuration script is below. Thank you!

config.g:

;Enable PanelDue
M575 P1 S1 B115200

; Enable Modbus Serial
M575 P1 S7 B9600

;Configure 1HCL-0 to Address 50
;M952 B123 A50

M569.1 P50.0 T3 S200 R100 I0 D0 E4:6 ; Configure the 1HCL board at CAN address 50 with a magnetic encoder,
;M569 P50.0 S1 D2;set drive 0 go forward, address 50, spreadcycle, OPEN LOOP
M569 P50.0 D4 S1;set drive 0 go forward, address 50, spreadcycle, CLOSED LOOP

M584 X50.0; set X drivers
M917 X0 ; Set the closed loop axes to have a holding current of zero

M350 X16 ; 16 microstepping
M92 X640.00 ; set steps per mm

M566 X300.00 ; set maximum instantaneous speed changes (mm/min)
M203 X1000.00 ; set maximum speeds (mm/min)
M201 X500.00 ; set accelerations (mm/s^2)

M906 X4000 I30 ; set motor currents (mA) and motor idle factor in per cent

ironhydroxide

@btmclain to do the tuning it needs to be in closed loop.

Generally you home the axis in open loop, move it to a "safe" location (not crashing the machine), set it to closed loop, then do the calibration.

I suggest you read the tuning documentation here