Hi,
i have kind of an IDEY Kinematics two idependent Y axes (Y and V) are moved together by one X.
Of course arc move with XY works, but i want to switch to XV, without changing HW and less config changes.
I saw G17/G18/G19 but do not seem to match. Is there another solution?
Thanks and best regards
wiego
Hi,
i have recently updated to 3.5.0-beta3 for 6HC and connected1HCLs. Also updated ClosedLoopTuning plugin to 3.5.0-beta1.
I have adapted M689.x config to changed in 3.5.0:
M569.1 P10.0 T2 C500 R20
M569 P10.0 S1 D4
Now after boot I get the following error message:
My motor has 200 full steps per revolution and the shaft quadrature encoder 500 PPR. As I understand this error message I should have an encoder with at least 800 PPR, right?
What is the reason you introduced this check? I was quite satisfied with this setup under RRF 3.4.4.
wiego
Hi,
I am going to automate update to a specific RRF/DWC version on my 6HCs over HTTP.
There is no problem with bin files (just rr_upload the files and do M997 S0).
For DWC I would need to extract DuetWebControl-SD.zip and rr_upload every single file to right path in /www.
My question: For simplicites sake I would rather just upload the DuetWebControl-SD.zip and let DWC do the unzip and copying stuff to /www (as DWC already does when done manually over web interface). Is there any easy way/trick to accomplish to trigger DWC to do this unzip/copy automatically with rr_upload or similar?
Thanks,
wiego
@jay_s_uk thanks for the link, I understand it better now.
Nevertheless, as far as I understand it, the current movement is not and cannot be stopped by using these events.
It seems that the current movement continues to the end (even if it stalls and it clatters) because there is no command that can be executed in a macro/event (driver-stall.g) that stops the current movement in the middle, correct?
I want to stop the motion as soon as a stall is detected to avoid further damage.
What is needed here is something like "M122 XY" that can be called in drive-stall.g that stops the current motion, ideally unhomes the drive and doesn't restart the board.
Or do you have any idea how to accomplish that with current features?
Hi,
I am using RRF 3.4.2RC2 on a Duet MB 6HC.
I am using homing switches for homing, but would like to detect a stall with stallguard (M915) while moving on a cartesian XY.
I expected the motion to stop as soon as a stall is detected,
but my experience is that many stalls are reported in a collision (with echo in driver-stall.g),
but the driver continues to drive to the target position (rattles strongly until the position counter reaches the target position).
Is this intended behavior? Wouldn't it be good to stop in the middle of the movement as soon as a stall is detected (because obviously something went really wrong and position is lost anyway)?
Hi
I can enable all motors with M17 and disable them with M18.
For a UI, I would like to retrieve the current enabled/disabled state as a query from the 6HC. Is there a specific G/MCode or object in the object model for this?
Thanks a lot
wiego
i just found out that cpr can have two meanings 
:
so my encoder has actually 500 cycles per revolution means 2000 counts per revolution.
@wiego said in 1HCL basic tuning fails:
M569.1 P123.0 T2 C2.5 R100 I0 D0
I change that to M569.1 P123.0 T2 C10 R100 I0 D0
but recordings look still quite similar:
@dc42 said in 1HCL basic tuning fails:
By "power", please confirm that you mean +5V and ground
yes, from the eight differential wires of the eoncoder (A,/A,B,/B,Z,/Z,5V,GND) only A,B,5V,GND are connected to the Quadrature Input of 1HCL. 24V as board supply on VIN.
@dc42 said in 1HCL basic tuning fails:
Is the working motor of exactly the same type?
No, unfortunately the motor that has been working is another type with TTL encoder.
@dc42 said in 1HCL basic tuning fails:
I'm confused by your first image because I can only see the green line for measured motor steps, but there should also be a black line for raw encoder reading.
In the first picture both lines exactly on top of eachother, that is the reason why the black is hardly visible.
@dc42 said in 1HCL basic tuning fails:
Which version of the closed loop tuning plugin are you using?
3.4-b1
Hi,
I have a rotary axis with a Nema 17 stepper motor with a 500 cpr differential encoder with zero impulse (but as suggested only a+,b+ and power connected). Firmware is 3.4.1 rc1.
Unfortunately I do not even pass basic tuning with this setup, but the motor moves apparently as expected (have seen this manoveur already on working motor). Might be something with the encoder? Cables are long (2m), but shielded and grounded at supply side.
The error message is:
Warning: Driver 123.0 warning: tuning failed
Warning: Driver 123.0 new tuning error(s): The measured motion was inconsistent.
Can you see what the problem is ?
Thanks,
wiego
....
config.g:
; General preferences
G90 ; send absolute coordinates...
M83 ; ...but relative extruder moves
M550 P"ClosedLoopTest" ; set device name
; Wait a moment for the CAN expansion boards to start
G4 S2
; Network
M552 P192.168.1.177 S1 ; enable network and set IP address
M553 P255.255.255.0 ; set netmask
M586 P0 S1 ; enable HTTP
; closed loop
M569.1 P123.0 T2 C2.5 R100 I0 D0
M569 P123.0 S1 D2
M584 A123.0 ; set drive mapping
M917 A0
M350 A16 I0 ; configure microstepping without interpolation
M92 A3200 ; set steps per mm
M566 A1000 ; set maximum instantaneous speed changes (mm/min)
M203 A1500 ; set maximum speeds (mm/min)
M201 A1000 ; set accelerations (mm/s^2)
M906 A1000 I30 ; set motor currents (mA) and motor idle factor in per cent
M84 S30 ; Set idle timeout
M208 A0 S1 ; set axis minima
M208 A1000 S0 ; set axis maxima
homea.g
; homea.g
;setup
M569 P123.0 D2
G91 ; relative positioning
;G1 A360 F2000
G90
M400
M569 P123.0 D4 S0 ; Configure the motor on the 1HCL at can address 50 as being in closed-loop drive mode (D4) and not reversed (S1)
M569.6 P123.0 V31
;G1 A0
;cleanup
G92 A0 ; set zero coordinate system for this axis
M122 for 1HCL:
Diagnostics for board 123:
Duet EXP1HCL firmware version 3.4.1rc1 (2022-05-03 09:32:27)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
Never used RAM 52288, free system stack 178 words
Tasks: Move(notifyWait,0.0%,152) HEAT(notifyWait,0.0%,78) CanAsync(notifyWait,0.0%,70) CanRecv(notifyWait,0.0%,79) CanClock(notifyWait,0.0%,70) TMC(notifyWait,34.2%,358) CLSend(notifyWait,0.0%,132) MAIN(running,64.0%,407) IDLE(ready,0.0%,30) AIN(notifyWait,1.7%,265), total 100.0%
Last reset 01:11:31 ago, cause: power up
Last software reset data not available
Closed loop enabled: yes, pre-error threshold: 0.00, error threshold: 0.00, encoder type rotaryQuadrature, reverse polarity: no, position 6960, raw count = 7410, tuning mode: 0, tuning error: 0x10, collecting data: no
Control loop runtime (ms): min=0.003, max=0.029, frequency (Hz): min=11538, max=17442
Driver 0: pos 0, 3200.0 steps/mm,tuning failed, SG min 0, mspos 8, reads 36336, writes 55440 timeouts 0, steps req 0 done 0
Moves scheduled 0, completed 0, in progress 0, hiccups 0, step errors 0, maxPrep 0, maxOverdue 0, maxInc 0, mcErrs 0, gcmErrs 0
Peak sync jitter -10/10, peak Rx sync delay 195, resyncs 0/0, no step interrupt scheduled
VIN voltage: min 12.2, current 24.2, max 24.3
V12 voltage: min 10.4, current 12.1, max 12.1
MCU temperature: min 32.8C, current 33.4C, max 33.9C
Last sensors broadcast 0x00000000 found 0 218 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 69642, send timeouts 0, received 21697, lost 0, free buffers 37, min 37, error reg 0
dup 0, oos 0/0/0/0, bm 0, wbm 0, rxMotionDelay 0
@dc42 I have built the latest 3.5-dev RRF. M596 is accepted. But I can't get asynchronous motion running. It doesn't start the second (P1) motion system and waits forever.
What I am trying to do is simply running X and Y asynchronously.
Could you please provide an example?