@T3P3Tony
@dc42
I found the problem!!!
the load noise is caused by a slight misplacement of the encoder, if I turn the motor another 90 degrees the noise disappears completely when I slightly move the pcb. Is there a good way to align the encoder pcb? Also the D therm goes almost to zero when the motors are standing still!
Here is a video:
encoder.mp4
Yes, i run them at 48V!
This is X axis print speed:
(X-Print)51_2025-03-18_13.50.50.csv
Y axis print speed:
(Y-Print)50_2025-03-18_13.51.00.csv
X axis travel speed:
(X-Travel)51_2025-03-18_13.51.10.csv
Y axis travel speed:
(Y-Travel)50_2025-03-18_13.51.14.csv
This is in open loop:
When can we expect that the closed loop plugin get the autotune feature back?
Hi,
i need help tuning my XY motors on my corexy, i want to run them in closed loop. I want to run 250mm/s 10K-20Kmm² for printing and 800-1000mm/s 50K-60K for travel with 3000 Jerk. The problem now is that the pid tune for printing moves isns't good for travel moves. For now i use a p therm off 30 should i increase it or is it better to increase the A and V therm?
In dwc, state.status is displayed as idle as well as in the object model. However, busy is displayed when I query state.status via meta commands.
M122
=== Diagnostics ===
RepRapFirmware for Duet 3 Mini 5+ version 3.6.0-rc.1 (2025-02-28 14:59:42) running on Duet 3 Mini5plus WiFi (standalone mode)
Board ID: 9458S-K296U-D65J0-40KMW-LM03Z-R6DMH
Used output buffers: 1 of 40 (29 max)
=== RTOS ===
Static ram: 94764
Dynamic ram: 95596 of which 392 recycled
Never used RAM 50716, free system stack 188 words
Tasks: NETWORK(1,nWait 7,16.2%,173) HEAT(3,nWait 6,0.0%,350) Move(4,nWait 6,0.0%,353) TMC(4,nWait 6,0.8%,99) CanReceiv(6,nWait 1,0.1%,771) CanSender(5,nWait 7,0.0%,336) CanClock(7,delaying,0.0%,348) MAIN(1,running,82.0%,402) IDLE(0,ready,0.1%,29) USBD(3,blocked,0.0%,147) AIN(4,delaying,0.8%,261), total 100.0%
Owned mutexes: WiFi(NETWORK)
=== Platform ===
Last reset 01:37:25 ago, cause: power up
Last software reset at 2025-03-14 07:38, reason: User, Gcodes spinning, available RAM 49956, slot 1
Software reset code 0x0003 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x00489000 BFAR 0xe000ed38 SP 0x00000000 Task MAIN Freestk 0 n/a
=== Storage ===
Free file entries: 20
SD card 0 detected, interface speed: 22.5MBytes/sec
SD card longest read time 6.7ms, write time 92.6ms, max retries 0
=== Move ===
Segments created 0, maxWait 0ms, bed comp in use: none, height map offset 0.000, hiccups added 0/0 (0.00/0.00ms), max steps late 0, ebfmin 0.00, ebfmax 0.00
Pos req/act/dcf: 0.00/0/0.00 0.00/0/0.00 0.00/0/0.00
No step interrupt scheduled
Driver 0: standstill, SG min 0, r/w errs 0/0, ifcnt 14, reads/writes 45469/14, timeouts 0, DMA errs 0, CC errs 0
Driver 1: standstill, SG min 0, r/w errs 0/0, ifcnt 10, reads/writes 45473/10, timeouts 0, DMA errs 0, CC errs 0
Driver 2: standstill, SG min 0, r/w errs 0/0, ifcnt 10, reads/writes 45472/10, timeouts 0, DMA errs 0, CC errs 0
Driver 3: standstill, SG min 0, r/w errs 0/0, ifcnt 10, reads/writes 45472/10, timeouts 0, DMA errs 0, CC errs 0
Driver 4: standstill, SG min 0, r/w errs 0/0, ifcnt 10, reads/writes 45473/10, timeouts 0, DMA errs 0, CC errs 0
Driver 5: not present
Driver 6: not present
=== 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, 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
SBC is idle in state(s) 0
Daemon is idle in state(s) 0
Aux2 is idle in state(s) 0
Autopause is idle in state(s) 0
File2 is idle in state(s) 0
Queue2 is idle in state(s) 0
=== CAN ===
Messages queued 51122, received 303963, lost 0, ignored 0, errs 619, boc 0
Longest wait 2ms for reply type 6062, peak Tx sync delay 959, free buffers 26 (min 25), ts 27703/27702/0
Tx timeouts 0,0,0,0,0,0
=== Network ===
Slowest loop: 205.88ms; fastest: 0.00ms
Responder states: MQTT(0) HTTP(0) 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 2.2.1
Module reset reason: Power up, Vcc 3.40, flash size 2097152, free heap 39188
MAC address f0:08:d1:03:80:57
IP address 192.168.178.65
Signal strength -45dBm, channel 6, mode 802.11n, reconnections 0
Clock register 00002002
Socket states: 0 0 0 0 0 0 0 0
After extensive testing, I concluded that something was distorting my sensor reading. Since I had two SameSky CUI AMT10E3 capacitive encoders.
I set them to 2500PPR and mounted them. Now closed loop runs whisper quiet. Here are two examples:
I run two LDO 42SHT48-2504AC Steppers. I connected a quadrature encoder with 1000PPR for testing and now they are completly silent also the d therm goes almost to zero at motor standstill. Is it maybe electrical noise that interrupt the magnetic encoder signal?
@T3P3Tony
@dc42
I found the problem!!!
the load noise is caused by a slight misplacement of the encoder, if I turn the motor another 90 degrees the noise disappears completely when I slightly move the pcb. Is there a good way to align the encoder pcb? Also the D therm goes almost to zero when the motors are standing still!
Here is a video:
encoder.mp4
Hi,
This page describes the reasons for using input shaping and the support for input shaping in RepRapFirmware. Note, as at firmware version 3.4, input shaping is only applied to axis motors driven directly from the Duet3 main board, not to axis motors driven from CAN-connected expansion boards.
I saw that input shaping in the documentation does not work for expansion board driven axis, but I think I saw in the forum that this is fixed with firmware Version 3.5.
@T3P3Tony
@dc42 I followed your instructions and it helped a little, but the loud noise persists. Here are some videos
P=25 D=0.1
D0.1.mp4
P=25 D=0.0
D0.0.mp4
Driver in spreadcycle
spreadcycle.mp4
Also, what I noticed is that when standing still my d therm oscillates slightly which is not visible in the tuning plot in the duet documentation guide.
