@nhof Good catch, it's actually correct in the config file but I was typing it from memory so I messed up those lines here. I will definitely try your suggestion and increase T even more than before, hopefully it won't miss any steps.
And regarding the voltage, if the expansion board isn't able to push 5V then could we simply use that level shifter I posted earlier to bump up each wire? Otherwise we may have to look at an entirely different control board since we need motors this powerful.
@joergs5 It's actually driven by a separate power supply, the IPC-3 so we shouldn't be running into any current issues.
From what I've read, it only takes ~8mA to trigger the optoisolators in the Clearpaths and I have it set on 100mA, so that should be sufficient. We are using the servo Expansion Board which we believed to output 5V based on what we read, but it seems like that isn't the case.
I changed M569 to R0 T1:1:1:1 and didn't have any luck, should I try a higher value? And echoing Phil's comments, are the pins on the Expansion Board supposed to be giving off 5V or is 3.2-3.7V normal? We may end up using a converter like this if we need to boost it.
Here is the documentation saying that all servo channels are level-shifted to 5V, but that doesn't seem to be the case with our expansion board.
"The pinout is shown below, all 5 driver channels are level shifted to 5V"
Hello, I am writing because we are having issues with controlling our Clearpath SD motors using the Duet Wifi and the servo Expansion Board. We have two servos for the X axis and one for Y, with one of the X servos reversed in the Clearpath software. We have auto-tuned all three as well and set them at 75% torque.
Here are the relevant config settings:
M569 P0 S1 ; Drive 0 goes forwards
M569 P1 S1 ; Drive 1 goes forwards
M569 P2 S1 ; Drive 2 goes forwards
M569 P3 S1 ; Drive 3 goes forwards
M569 P4 S1 ; Drive 4 goes forwards
M569 P5 R0 T1:1:0.5:1
M569 P6 R0 T1:1:0.5:1
M569 P7 R0 T1:1:0.5:1
M584 X5:6 Y7 Z0:1:2:3 E4
The two X motors operate at different speeds and go different distances each time, despite receiving the same Gcode command when we test them. They are both set on 800 step resolution in the Clearpath software. We checked voltage and we are only getting output on the Expansion Board ranging from 3.2-3.7V, isn't the Expansion Board supposed to convert it to 5V? Our assumption is that the opto-isolators in the Clearpath are only getting triggered only part of the time, which is why the motors vary in the distance they move and do not return to 0.
I'm currently not near the board so I don't have all of the config memorized but can post more later, any help is very appreciated.