Duet 2 wifi AND LIS3DH

tas

@luc That is the hardware wiring part of M955. You must also tell Duet the communication settings.

;M955 P0 C"spi.cs4+spi.cs3";LIS3DH
;M955 P0 I25 S1344 R10  ; S1344 is 1344Hz sample rate.  R10 is 10 bit resolution for LIS3DH.

You can enter all of the parameters on one line if you like.

Make sure to check your orientation for the I parameter and insert the appropriate two numbers.

luc

@tas said in Duet 2 wifi AND LIS3DH:

M955 P0 I25 S1344 R10 ; S1344 is 1344Hz sample rate. R10 is 10 bit resolution for LIS3DH.

Thank you for your response.
I added M955 P0 I20 S1344 R10 but if I send m955 I always get: Error: M955: missing parameter 'P'

tas

@luc You have to send M955 P0. Sorry early in the day for me! There are defaults for the other settings which is why it works for you.

tas

@luc Also I should have removed the semicolons in front of each line before posting the code. I now use another acclerometer.

luc

@tas
OK...It's ok. Now with m955 po no longer gives error and responds with parameters

many thanks

droftarts

@luc said in Duet 2 wifi AND LIS3DH:

Entered the following string in config.g:
M955 P0 C “spi.cs4+spi.cs3”

Make sure you are using straight quote marks, not curly quote marks, ie the above should be

M955 P0 C"spi.cs4+spi.cs3"

I try to send M955 and get the following message:
Error: M955: missing parameter 'P'

What firmware version are you using? Send M122 and post the response.

Ian

luc

@droftarts said in Duet 2 wifi AND LIS3DH:

@luc said in Duet 2 wifi AND LIS3DH:

Entered the following string in config.g:
M955 P0 C “spi.cs4+spi.cs3”

Make sure you are using straight quote marks, not curly quote marks, ie the above should be
M955 P0 C"spi.cs4+spi.cs3"
I try to send M955 and get the following message:
Error: M955: missing parameter 'P'

What firmware version are you using? Send M122 and post the response.

Ian
All ok, thank you too!

The first test performed is what I insierite a few posts above.

Can you give me your opinion on the result?

Is there a document to read that explains how to interpret the values?

luc

I am using duet 2 wifi e firmware 3.5.4.

And this is my M122:

4/04/2025, 15:09:29: m122: === Diagnostics ===
RepRapFirmware for Duet 2 WiFi/Ethernet version 3.5.4 (2024-11-24 10:43:42) running on Duet WiFi 1.02 or later + DueX2
Board ID: 08DJM-9178L-L4MSJ-6J1DL-3S46R-TV3GP
Used output buffers: 4 of 26 (25 max)
=== RTOS ===
Static ram: 23488
Dynamic ram: 75300 of which 152 recycled
Never used RAM 11420, free system stack 118 words
Tasks: NETWORK(1,ready,16.6%,217) ACCEL(6,nWait 5,0.0%,249) HEAT(3,nWait 5,0.1%,328) Move(4,nWait 5,0.0%,258) DUEX(5,nWait 5,0.0%,23) MAIN(1,running,83.3%,746) IDLE(0,ready,0.0%,29), total 100.0%
Owned mutexes:
=== Platform ===
Last reset 00:46:02 ago, cause: software
Last software reset at 2025-04-04 14:23, reason: User, Gcodes spinning, available RAM 11364, slot 0
Software reset code 0x0003 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x0041f000 BFAR 0xe000ed38 SP 0x00000000 Task MAIN Freestk 0 n/a
Error status: 0x00
Aux0 errors 0,0,0
MCU temperature: min 19.1, current 19.6, max 19.8
Supply voltage: min 12.3, current 12.4, max 12.5, under voltage events: 0, over voltage events: 0, power good: yes
Heap OK, handles allocated/used 99/0, heap memory allocated/used/recyclable 2048/16/16, gc cycles 0
Events: 0 queued, 0 completed
Driver 0: standstill, SG min n/a
Driver 1: standstill, SG min n/a
Driver 2: standstill, SG min n/a
Driver 3: standstill, SG min n/a
Driver 4: standstill, SG min n/a
Driver 5: standstill, SG min n/a
Driver 6: standstill, SG min n/a
Driver 7:
Driver 8:
Driver 9:
Driver 10:
Driver 11:
Date/time: 2025-04-04 15:09:27
Cache data hit count 4294967295
Slowest loop: 6.95ms; fastest: 0.19ms
I2C nak errors 0, send timeouts 0, receive timeouts 0, finishTimeouts 0, resets 0
=== Storage ===
Free file entries: 10
SD card 0 detected, interface speed: 20.0MBytes/sec
SD card longest read time 0.5ms, write time 0.0ms, max retries 0
=== Move ===
DMs created 83, segments created 11, maxWait 0ms, bed compensation in use: none, height map offset 0.000, max steps late 0, min interval 0, bad calcs 0, ebfmin 0.00, ebfmax 0.00
no step interrupt scheduled
Moves shaped first try 0, on retry 0, too short 0, wrong shape 0, maybepossible 0
=== DDARing 0 ===
Scheduled moves 38, completed 38, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== Heat ===
Bed heaters 0 -1 -1 -1, chamber heaters -1 -1 -1 -1, ordering errs 0
Heater 1 is on, I-accum = 0.0
=== GCodes ===
Movement locks held by null
HTTP is idle in state(s) 0
Telnet is idle in state(s) 0
File is idle in state(s) 0
USB is idle in state(s) 0
Aux is idle in state(s) 0
Trigger is idle in state(s) 0
Queue is idle in state(s) 0
LCD is idle in state(s) 0
Daemon is idle in state(s) 0
Autopause is idle in state(s) 0
Q0 segments left 0
Code queue 0 is empty
=== DueX ===
Read count 0, 0.00 reads/min
=== Network ===
Slowest loop: 20.99ms; fastest: 0.07ms
Responder states: HTTP(0) HTTP(0) HTTP(0) FTP(0) Telnet(0)
HTTP sessions: 1 of 8
=== WiFi ===
Interface state: active
Module is connected to access point
Failed messages: pending 0, notrdy 0, noresp 0
Firmware version 2.2.0
MAC address b4:e6:2d:60:b9:99
Module reset reason: Turned on by main processor, Vcc 3.32, flash size 4194304, free heap 39192
WiFi IP address 192.168.0.40
Signal strength -43dBm, channel 1, mode 802.11n, reconnections 0
Clock register 00002002
Socket states: 0 0 0 0 0 0 0 0

droftarts

@luc said in Duet 2 wifi AND LIS3DH:

Is there a document to read that explains how to interpret the values?

https://docs.duet3d.com/en/User_manual/Tuning/Input_shaping_plugin#determining-ringing-frequencies

Your graph is showing a peak at around 74Hz, but this is after the ZVD shaper has been applied. It's also important to look at the 'Amplitude' scale, as this shows there is only a very small amount of ringing. I'd run it a few times, try different shapers, and get a sense for what is changing with the different shapers. Then do a test print, ideally one with IS off, and one with it on, to see if it is making the improvement you hoped for.

It's not really possible from just one image to suggest exactly what settings are best, especially seeing the results after a shaper is applied. Seeing the raw results should show where the largest issue is. I'm also not the best person to ask, as I don't actually have that much experience with tuning input shaping!

Ian

luc

@droftarts
That 74Hz spike was there before without applying any shaper.
I think that spike is because of a very slight play (which I discovered a few days ago) that the linear X-axis drive. I think it affects both X and Y. In fact I have to disassemble and try to change the balls. After that I can compare and see if that spike was due to that and whether to uncommpare.
It is an xy core and apart from that nasty 7aHz spike it seems to me that there is no excessive vibration/resonance also because the Amplitude is at most 0.010 for a part but mostly within 0.005.

The paper you linked me I had studied, po thought there was some with more graphs and different examples.

You are so kind, thank you again!

dc42

@luc did you have any fans running when you did the measurements? If so then the 74Hz spike may have been vibration from a fan. 74Hz is 4440 rpm.

luc

@dc42 said in Duet 2 wifi AND LIS3DH:

@luc did you have any fans running when you did the measurements? If so then the 74Hz spike may have been vibration from a fan. 74Hz is 4440 rpm.

No, fans off. I did the standard test as it is set up by default. I know I have a very small play on the X-axis linear guide (it is a XY core). But I am not sure if the 74Hz is caused by the guide or all by the guide. Tomorrow I will try to tie a weight on my head to see if it changes. If you have any ideas for some tests I would be happy to do them. Thanks for your interest.

dc42

@luc the movement of the belt over the toothed pulleys can also cause vibration. To check this, repeat the input shaping test moves at a different speed and see whether the frequency changes. Alternatively, un-check the box to take readings over the whole move and see if the peak goes away.

luc

hello to everyone,
I mounted the sensor in a different position and with a different and more stable support. Now the graph has changed and the 74Hz spike has disappeared. So I think this is fixed.

I have a question, in the graph, the Y Amplitude axis, does it indicate the displacement in mm?
(0.018 = 18/100 of a mm?)

Immagine 2025-04-05 092655.jpg

luc

Other thing, from this further simulation graph it seems to me that MZV intervenes on a larger part on the frequency peaks in my case than ZVD. Have I interpreted this correctly?

Sorry for too many questions but I am trying to understand the logic of its operation.

dc42

@luc yes MZV has quite a wide bandwidth, however the amount of reduction is not as great as ZVD. In your graph, ZVD cancels the 44Hz peak almost completely whereas MZV cancels it by about 90%.

BTW when dealing with such a sharp peak you may get better results of you reduce the damping factor from its default value of 0.1 to e.g. 0.05.

luc

@dc42
I have a question, in the graph, the Y Amplitude axis, does it indicate the displacement in mm?
(0.018 = 18/100 of a mm?)

Thank you

dc42

@luc no they are fractions of 1g acceleration.

luc

Hello everyone,
I would like another clarification.
Doing the test that DWC proposes by default by clicking on the “Record Motion Profile” button, the parameters it uses for both acceleration and acceleration profile are the ones set in config.g?
So are they M201 for acceleration and M566 for acceleration profile?
Thank you

dc42

@luc M566 is not relevant here because RRF does not use jerk what starting a move from standstill, or when ending a move at standstill.