@droftarts Thank you for your reply.
Here is the full reply on "M122 B73" before attempting to update through the bin file you linked to.
M122 B73
Diagnostics for board 73:
Duet M23CL firmware version 3.5.0-rc.1+ (2023-10-26 09:24:34)
Bootloader ID: SAME5x bootloader version 2.8 (2023-07-25)
All averaging filters OK
Never used RAM 75428, free system stack 186 words
Tasks: Move(3,nWait,0.0%,182) CLSend(3,nWait,0.0%,150) HEAT(2,nWait,0.0%,120) CanAsync(5,nWait,0.0%,67) CanRecv(3,nWait,0.0%,80) CanClock(5,nWait,0.0%,70) TMC(2,nWait,20.2%,359) MAIN(1,running,77.5%,399) IDLE(0,ready,0.0%,40) AIN(2,nWait,2.2%,265), total 100.0%
Last reset 00:05:14 ago, cause: power up
Last software reset data not available
Driver 0: pos 0, 80.0 steps/mm, standstill, SG min 0, mspos 8, reads 63748, writes 12 timeouts 0, steps req 0 done 0
Moves scheduled 0, completed 0, in progress 0, hiccups 0, segs 0, step errors 0, maxPrep 0, maxOverdue 0, maxInc 0, mcErrs 0, gcmErrs 0, ebfmin 0.00 max 0.00
Peak sync jitter -7/3, peak Rx sync delay 184, resyncs 0/0, next timer interrupt due in 12 ticks, enabled, next step interrupt due in 4059135798 ticks, disabled
VIN voltage: min 48.2, current 48.2, max 48.2
V12 voltage: min 12.0, current 12.0, max 12.0
MCU temperature: min 20.1C, current 23.6C, max 23.6C
Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 2535, send timeouts 0, received 1581, 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: open loop, pre-error threshold: 2.00, error threshold: 4.00, encoder type none
I downloaded the M23CL bin file and uploaded it in the system files which prompted an update on the M23CL that was connected at that time. It seems succesfull and displays in the machine specific info:
Electronics
Diagnostics
Product Short Name Version
Duet 3 MB6HC MB6HC 3.5.0-rc.3
Duet 3 Expansion M23CL M23CL 3.5.0-rc.3
Duet Software Framework DSF 3.5.0-rc.3
Duet Web Control DWC 3.5.0-rc.3
For M23CL with CAN 73.0 which is not configured at all in the config file it still reads:
M569.6 P73.0 V2
Error: M569.6: no encoder configured
After reconnecting and updating 71.0 and 72.0 and running them with the same config file as before which was taken from the example in the documentation. I get popups in the DWC that say:
"Event notification
Driver 71.0 error: failed to maintain position"
And the same for 72.0
Upon trying to initiate the config for the M23CL I still get the same error:
M569.6 P71.0 V2
Error: M569.6: Driver is not enabled
Here is the full reply on M112 B71.0 after updating.
M122 B71.0
Diagnostics for board 71:
Duet M23CL firmware version 3.5.0-rc.3 (2024-01-24 17:54:18)
Bootloader ID: SAME5x bootloader version 2.8 (2023-07-25)
All averaging filters OK
Never used RAM 45192, free system stack 186 words
Tasks: EncCal(1,nWait 6,0.0%,470) Move(3,nWait 7,0.0%,166) CLSend(3,nWait 6,0.0%,148) HEAT(2,nWait 6,0.1%,108) CanAsync(5,nWait 4,0.0%,67) CanRecv(3,nWait 1,0.0%,66) CanClock(5,nWait 1,0.0%,65) TMC(4,nWait 6,70.0%,326) MAIN(1,running,25.2%,266) IDLE(0,ready,0.0%,30) AIN(2,nWait 2,4.7%,255), total 100.0%
Owned mutexes:
Last reset 00:04:19 ago, cause: software
Last software reset data not available
Driver 0: pos 0, 160.0 steps/mm, failed to maintain position, SG min n/a, mspos 4, reads 14047, writes 31123 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 -6/3, peak Rx sync delay 190, resyncs 0/0, no timer interrupt scheduled
VIN voltage: min 48.0, current 48.0, max 48.0
V12 voltage: min 12.0, current 12.0, max 12.0
MCU temperature: min 20.2C, current 21.1C, max 21.1C
Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 2100, send timeouts 0, received 1311, 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: 4.00, encoder type rotaryAS5047, position 1955
Encoder reverse polarity: no, full rotations 0, last angle 1957, minCorrection=-12.6, maxCorrection=18.3, agc 62, mag 4757, no error
Tuning mode: 0, tuning error: 0, collecting data: no
Control loop runtime (us): min=4, max=66, frequency (Hz): min=8928, max=14150
Since as in the example they are configured as X and Y it tried sending:
M564 H0
In order to move them without homing from the DWC. This allows me to move X and Y from the dashboard. When I do this I can see their location update in the status as well as it going from "idle" to "busy" but no movement in the steppers.
The whole system seems to be running the latest versions of firmware but the errors have not changed. I've followed all the steps from the documentation as far as I can tell but no success.
Not sure how to proceed from here, any help as always would be greatly appreciated. I'm most likely making a stupid mistake somewhere but the big question is where.