The PINDA 2 has 4 cables.
White is the thermistor. You can connect it to Thermistor 2 on your Duet Wifi board.
Black is the signal for the probe and goes into Z Probe in.
Blue is ground an brown is +5V which you can "steal" from anywhere. I did chose to used the 5V/GRND from the expansion PINs on the board because they are right to each other.

If you use the stock PINDA position you can use my config code:

; Z-Probe PINDA
M574 Z1 S2 ; Set endstops controlled by probe
M558 P5 C"^zprobe.in" I1 H0.7 F1000 T6000 A20 S0.005 ; PINDA
M308 S2 P"e1_temp" A"PINDA" Y"thermistor" T100000 B3950
G31 P1000 X23 Y5 Z0.985 	                 ; PEI Sheet Offset C0.0010 S20 H2	
;G31 P1000 X23 Y5 Z1.315 					; Textured Sheet Offset
M557 X24:221 Y10:195 P9                     ; Define mesh grid

As for the temperature compensation.
For G31 there are S and C parameter available for that.

From the documentation:

Cnnn Temperature coefficient^2
Snnn Calibration temperature^2

2Optional parameters 'S' (temperature in oC at which the specified Z parameter is correct, default is current temperature) and 'C' (temperature coefficient of Z parameter in mm/oC, default zero) can be set. This is useful for probes that are affected by temperature. In RRF2 the bed temperature reading is used. In RRF3 you must specify which temperature sensor to use in the H parameter.

Unfortunately there is no example or way described how to use those parameters exactly.
What I did was, I chose a location where I expect no warping of the heat bed, removed the sheet and probed directly over the bottom left screw. That is the location the Prusa stock FW does also do it's temperature calibration.
Then I did measure my Z height at 35°C, 40°C, 45°C and 50°C PINDA temperature.
The problem then I had was that the inaccuracy wasn't linear but I think the "Temperature coefficient" parameter assumes that it is.
That is why PRUSA does save a specific Z offest value for the specific temperatures in a table and uses it when the temperature has been reached.

I already posted a possible solution in another thread:
https://forum.duet3d.com/topic/13516/conditional-gcode-and-object-model-variables/64?_=1592403073563

TL:DR

if PINDA_Thermistor <25°C {
G31 P1000 X23 Y5 Z0.995
}
else if PINDA_Thermistor >=25° AND PINDA_Thermistor <30° {
G31 P1000 X23 Y5 Z1.005
}
else if PINDA_Thermistor >=30°C AND PINDA_Thermistor <35° {
G31 P1000 X23 Y5 Z1.020
}
.
. and so on...
else {
G31 P1000 X23 Y5 Z2.0 ; safety height
}

What we need are the variables to make proper use of the thermistor of the PINDA.

I've upped my Config. You can copy the things you need.
https://www.file-upload.net/download-14164086/Config.zip.html

If you intent to use the whole config: You will need to add this in your start gcode in your slicer software for the filament runout sensor:

; Prime Filament Sensor for Runout
M581 P1 T2 S-1 R0 ; Filament Sensor P1 triggers Trigger2.g always (R0)  TRIGGER OFF
M950 J1 C"nil" ; Input 1 e0 Filament Sensor 
M591 D0 P2 C"e0stop" S1 ; Filament Runout Sensor

The reason for this is that I wrote a filament autoload script and you can't have runout detection and autoload enabled at the same time without conditional code.

For the PINDA:
Black is the signal for the probe and goes into Z Probe in.
I connected 5V and GRND to the expansion port pins.
Thermistor is connected to E1

You can read out the PINDA thermistor temperature but we'll have to wait for conditional code being implemented as the temperature compensation feature as it is right now assumes that the inaccuracy is linear.

I think this thread might be the right location for this I guess because it's something I would need

Since I upgraded my Prusa MK3s to a Duet 2 WiFi board I try to enable all the features the Prusa original FW had.
This means:

• automatic loading of filament when there is no filament in the extruder
• PINDA temperature compensation table because the probe Z offset differs depending on the temperature. In my experience this is not linear and the higher the temperature the lower Z = 0 becomes meaning if you calibrate your printer with PLA, ABS will need recalibration as the nozzle will be too low.

My target is to create a config package for others so they can 1:1 swap their board and don't need to tweak much as my config uses all the convenient features, like the filament sensor, with explanation of what needs to change in the config depending of the used extruder or stepper motors (e.g. 0.9/1.8 degree).

1.
Feature to load the filament automatically.
Status: no filament in the extruder, extruder has PLA temperature (210°C)
Behaviour: Putting filament in the extruder triggers the filament sensor which then automatically loads filament.
Problem I had: The firmware only allows me to operate the filament sensor in one direction because the pin is blocked/reserved. Meaning I could only enable auto load or run out detection at once. So I had to split it in two over macros and start gcode.

So here is my (over complicated?) solution right now:

config.g

; Filament Sensor Port and Loading Feature ON
M950 J1 C"e0stop" ; Input 1 e0 Filament Sensor 
M581 P1 T2 S0 R0 ; Filament Sensor P1 triggers Trigger2.g always (R0)

Runout is not working right now. So when the printer is starting up and there is no filament and filament is put into the extruder trigger2.g is called:

trigger2.g:

; Loading Filament Script

M300 S800 P200
M581 P1 T2 S-1 R0 ; Filament Sensor does not listen anymore (S-1). Autoload is disabled. 
M291 P"Please wait while the nozzle is being heated up" R"Loading PLA" T5 ; Display message
T0 ; Activate Hotend
M291 P"Feeding filament Trigger2" R"Loading PLA" T5 ; Display new message
G1 E70 F800 ; Feed 70mm of filament at 800mm/min
G1 E55 F300 ; Feed 50mm of filament at 300mm/min
G4 P1000 ; Wait one second
G1 E-5 F800 ; Retract 3mm of filament at 800mm/min
M400 ; Wait for moves to complete
M292 ; Hide the message
G10 S150 ; Set current tool temperature to 150C
;G10 S0 ; Turn off the heater again

; Filament Sensor Port and Runout Feature ON
M581 P1 T2 S-1 R0 ; Filaent Sensor does not listen anymore (S-1). Autoload is disabled. 
M950 J1 C"nil" ; Input 1 e0 Filament Sensor 
M591 D0 P2 C"e0stop" S1 ; Filament Runout Sensor

After the loading script the sensor is put into mode "runout detection ON"

But what if you turn your printer on and filament is already loaded and you directly start your print? This would mean that there is no runout detection enabled.
My solution right now is putting this into the Start GCODE in the slicer software:

; Prime Filament Sensor for Runout
M581 P1 T2 S-1 R0 ; Filament Sensor P1 triggers Trigger2.g always (R0)  TRIGGER OFF
M950 J1 C"nil" ; Input 1 e0 Filament Sensor 
M591 D0 P2 C"e0stop" S1 ; Filament Runout Sensor

And there is a third scenario. What if you want to manually change your your color (filament) mid print?
After unloading the filament the sensor needs to be in mode "autoload" and after the autoloading is complete it has to go back to the mode "runout detection".

So i added this to my filament-change.g macro:

M25
G91 ; Relative Positioning
G1 Z20 F360; Raise Z
G90 ; Absolute Values
G1 X200 Y0 F6000 ; Parking Position
M300 S800 P8000 ; play beep sound
M98 Pejectfilament.g
M400

Called Pejectfilament.g:

M591 D0 P0 C"e0stop" S1 ; Filament Runout Sensor
M950 J1 C"nil"

M291 P"Please wait while the nozzle is being heated up" R"Unloading PLA" T5 ; Display message
T0 ; Activate Hotend
M109 S210
M291 P"Retracting filament..." R"Unloading PLA" T5 ; Display another message
G1 E+8 F300 ; Extrude 8mm of filament at 300mm/min
G1 E-45 F800 ; Retract 480mm of filament at 800mm/min
G1 E-15 F900 ; Retract 480mm of filament at 900mm/min
G1 E-25 F900 ; Retract 480mm of filament at 900mm/min
M400 ; Wait for the moves to finish
M292 ; Hide the message again
M300 S800 P200

; Filament Sensor gets ready for next load
M950 J1 C"e0stop" ; Input 1 e0 Filament Sensor 
M581 P1 T3 S0 R0 ; Filament Sensor P1 triggers Trigger3.g 

At the end trigger3.g:

M300 S800 P200
M581 P1 T2 S-1 R0 ; Filaent Sensor does not listen anymore (S-1). Autoload is disabled. 
M291 P"Please wait while the nozzle is being heated up" R"Loading PLA" T5 ; Display message
T0 ; Activate Hotend
M291 P"Feeding filament Trigger3" R"Loading PLA" T5 ; Display new message
G1 E70 F800 ; Feed 70mm of filament at 800mm/min
G1 E55 F300 ; Feed 50mm of filament at 300mm/min
G4 P1000 ; Wait one second
G1 E-1 F800 ; Retract 1mm of filament at 800mm/min
M400 ; Wait for moves to complete
M292 ; Hide the message

; Filament Sensor Port and Runout Feature ON
M581 P1 T2 S-1 R0 ; Filaent Sensor does not listen anymore (S-1). Autoload is disabled. 
M950 J1 C"nil" ; Input 1 e0 Filament Sensor 
M591 D0 P2 C"e0stop" S1 ; Filament Runout Sensor

I know it first seems quite complex but when runout is enabled the port is blocked and can't be used for autoload.
Now I've read about the implementation of if / else statement which could make things quite simpler and also lowers the change of error as there would be no need to put code into the start gcode.

Like so (be aware, I'm no coder! )
Filament Sensor Status = 1 means no filament

func autoload {
M581 P1 T2 S-1 R0 ; Filament Sensor does not listen anymore (S-1). Autoload is disabled.
M950 J1 C"nil" ; Input 1 e0 Filament Sensor
M591 D0 P2 C"e0stop" S1 ; Filament Runout Sensor
}

func runout_detection {
M581 P1 T2 S-1 R0 ; Filament Sensor P1 triggers Trigger2.g always (R0) TRIGGER OFF
M950 J1 C"nil" ; Input 1 e0 Filament Sensor
M591 D0 P2 C"e0stop" S1 ; Filament Runout Sensor
}

if Filament_Sensor state changed to "1" {
autoload
} else {
runout_detection
}

Something like that

2. PINDA Temperature calibration

The PINDA (v2) has an built in thermistor to use the Prusa FWs temperature compensation table.
RRP FW has has similar feature built in into the G31 command:

G31 P1000 X23 Y5 Z0.995 C0.0010 S20 H2

I've measured the Z trigger height with several temperatures from 20°C, 25°C up to 50°C and saw that the variance was not linear. At first the offset got bigger meaning the nozzle would be too close to the bed and after 40°C the difference were much smaller up to 50°C.
I'm not quite sure how the Prusa FW stores and uses the recorded values when the FW does it's auto temperature PINDA calibration but what would work is if you could use different G31 code lines depending of the temperature of the PINDA thermistor.

My "I'm no coder" mind thinks of the following:

if PINDA_Thermistor <25°C {
G31 P1000 X23 Y5 Z0.995
}
else if PINDA_Thermistor >=25° AND PINDA_Thermistor <30° {
G31 P1000 X23 Y5 Z1.005
}
else if PINDA_Thermistor >=30°C AND PINDA_Thermistor <35° {
G31 P1000 X23 Y5 Z1.020
}
.
. and so on...
else {
G31 P1000 X23 Y5 Z2.0 ; safety height
}

Hope it is clear what I mean

I think those limits are only for gcode commands and not for the firmware itself.
But I'll test it anyway.

Do give you guys an update and also for someone who might have the same issue:

Installing the probe (in my case PINDA 2) with almost no Y offset solved my probing problem.
My guess ist that any small difference (parts, rods, frame) gets amplified by the probe when the location has a big Y offset to the nozzle.

I also do not recommend using "True Bed Leveling" with a cartesian printer. This could tilt the X axis which does also add an angle to the nozzle and probe. I level my X axis (tilt) by running into the Z endstops.

New working height map (almost perfect first layer)

Z = 0 reference point is X10 / Y10.

And if anyone is interested in how in configured my PINDA:

; Z-Probe PINDA
M574 Z1 S2 ; Set endstops controlled by probe
M558 P5 C"^zprobe.in" I1 H0.9 F1000 T6000 A20 S0.005 ; PINDA
G31 P1000 X23 Y5 Z1.025 ; PEI Sheet Offset
;G31 P1000 X23 Y5 Z1.325 ; Textured Sheet Offset
M557 X24:221 Y10:195 P12 ; Define mesh grid

The probing is quite fast but the accuracy is quite good as the probe rarely needs more than 2 probes per point.
Next I need to figure out how to use the temperature compensation with the G31 command.

I can’t wait to test this baby!
I’m so excited to see how the TMC2209 perform compared to the TMC2260 with RRF.

@bearer
In terms of requirements for home 3D printers I'd say the Duet 2 is outdated for a while now.
The TMC2209 are the "go to" stepper drivers at the moment for home 3D printers. I'd rather have features like Stealthchop than stepper drivers which can handle 2.6 amps.
I was about to buy (import) a Kinetica G2C board which is a RepRap capable board that comes with TMC2209 but I rather wait now for the next Duet release

If I were you I‘d wait for the new Duet board.
The Duet 3 is imo too much even for a CoreXY.
Duet 2 would be enough but has outdated stepper drivers.

Hi Forum,

since the TMC2660 don't have Stealthchop I wanted to at least use Coolstep which is kind of the predecessor.

I searched the forum and read TMC2660 documentation sheets before posting.

What I did:

• Use the max rated current for the X and Y stepper motor as stated in the documentation:
  M906 X900.00 Y900.00 Z540.00 E500.00 I10

The I started a print with usual (fast) settings and raised my SGT value to the point where I didn't get false false StallGuard errors anymore.

The result was then:
M915 X S3 F0 H400 R1
M915 Y S3 F0 H400 R1

Then I wanted to calibrate Coolstep and things got complicated as I found no guide with 3D printing in mind without additional special hardware to measure motor resistance etc..

As stated in the Duet documentation Coolstep is configured as follows:
"Tnnn (optional) Coolstep control register, 16-bit unsigned integer"

At section 6.7. is a table which explains the approach further:
https://www.trinamic.com/fileadmin/assets/Products/ICs_Documents/TMC2660_datasheet_Rev1.07.pdf

I also found this guide with recommended starting values:
https://www.trinamic.com/fileadmin/assets/Support/Appnotes/AN002-stallGuard2.pdf

I read here in the forum and also in the guides that you can use your SG min/max values to determine the SEMIN and SEMAX value.
My SG values are: Driver 0: standstill, SG min/max 11/442

In the guide it says:

With SEMIN = 0 coolStep is switched off. The SEMIN parameter defines the minimum value of the
stallGuard2 signal SG that triggers the increasing of the current if load is detected. The SEMIN
parameter is internally multiplied by 32. So, the increasing of current is triggered if SG < (SEMIN * 32).
To start parameterization, first choose a SEMIN in the range of SG_MAX / 4 … SG_MAX / 8.

Ok, SG max is 442 and I should divide it with 8? This would mean the value 55,25. Here comes my first ??. I can only enter a max SEMIN value of 15.

As I don't understand how I should apply those instructions I tried different values for SEMIN and SEMAX, for example SEMIN5 and SEMAX10:

M915 X S3 F0 H400 T0101010010100100 R1

The sound of the stepper motor didn't change at all (and thereby the current). When I ask for the status with M915 I get this report:

Driver 0: stall threshold 3, filter off, steps/sec 400 (32.0 mm/sec), coolstep ffff, action: log

"ffff" isn't that a maxed out hex value?

Hope someone knows and uses the feature.

@Kolbi

Good you have a photo of it unplugged. Seeing through all the cables of my board I thought it’s the first one I connected.
So yes you are right it’s the second for E0.

@Kolbi

E0 endstop (filament sensor) is the 1st in the row not the second.

Sorry the comment section is a bit old in my config ^^

RRF 3.11 and Duet WiFi

I think the problem is the Y offset of your probe. I couldn't level my bed properly with (about) 20mm Y offset.
Now my probe has an offset an Y offsest of 0mm (and X 5mm) and the results are much much better then before.

I've upped my Config. You can copy the things you need.
https://www.file-upload.net/download-14164086/Config.zip.html

If you intent to use the whole config: You will need to add this in your start gcode in your slicer software for the filament runout sensor:

; Prime Filament Sensor for Runout
M581 P1 T2 S-1 R0 ; Filament Sensor P1 triggers Trigger2.g always (R0)  TRIGGER OFF
M950 J1 C"nil" ; Input 1 e0 Filament Sensor 
M591 D0 P2 C"e0stop" S1 ; Filament Runout Sensor

The reason for this is that I wrote a filament autoload script and you can't have runout detection and autoload enabled at the same time without conditional code.

For the PINDA:
Black is the signal for the probe and goes into Z Probe in.
I connected 5V and GRND to the expansion port pins.
Thermistor is connected to E1

You can read out the PINDA thermistor temperature but we'll have to wait for conditional code being implemented as the temperature compensation feature as it is right now assumes that the inaccuracy is linear.

The PINDA 2 has 4 cables.
White is the thermistor. You can connect it to Thermistor 2 on your Duet Wifi board.
Black is the signal for the probe and goes into Z Probe in.
Blue is ground an brown is +5V which you can "steal" from anywhere. I did chose to used the 5V/GRND from the expansion PINs on the board because they are right to each other.

If you use the stock PINDA position you can use my config code:

; Z-Probe PINDA
M574 Z1 S2 ; Set endstops controlled by probe
M558 P5 C"^zprobe.in" I1 H0.7 F1000 T6000 A20 S0.005 ; PINDA
M308 S2 P"e1_temp" A"PINDA" Y"thermistor" T100000 B3950
G31 P1000 X23 Y5 Z0.985 	                 ; PEI Sheet Offset C0.0010 S20 H2	
;G31 P1000 X23 Y5 Z1.315 					; Textured Sheet Offset
M557 X24:221 Y10:195 P9                     ; Define mesh grid

As for the temperature compensation.
For G31 there are S and C parameter available for that.

From the documentation:

Cnnn Temperature coefficient^2
Snnn Calibration temperature^2

2Optional parameters 'S' (temperature in oC at which the specified Z parameter is correct, default is current temperature) and 'C' (temperature coefficient of Z parameter in mm/oC, default zero) can be set. This is useful for probes that are affected by temperature. In RRF2 the bed temperature reading is used. In RRF3 you must specify which temperature sensor to use in the H parameter.

Unfortunately there is no example or way described how to use those parameters exactly.
What I did was, I chose a location where I expect no warping of the heat bed, removed the sheet and probed directly over the bottom left screw. That is the location the Prusa stock FW does also do it's temperature calibration.
Then I did measure my Z height at 35°C, 40°C, 45°C and 50°C PINDA temperature.
The problem then I had was that the inaccuracy wasn't linear but I think the "Temperature coefficient" parameter assumes that it is.
That is why PRUSA does save a specific Z offest value for the specific temperatures in a table and uses it when the temperature has been reached.

I already posted a possible solution in another thread:
https://forum.duet3d.com/topic/13516/conditional-gcode-and-object-model-variables/64?_=1592403073563

TL:DR

if PINDA_Thermistor <25°C {
G31 P1000 X23 Y5 Z0.995
}
else if PINDA_Thermistor >=25° AND PINDA_Thermistor <30° {
G31 P1000 X23 Y5 Z1.005
}
else if PINDA_Thermistor >=30°C AND PINDA_Thermistor <35° {
G31 P1000 X23 Y5 Z1.020
}
.
. and so on...
else {
G31 P1000 X23 Y5 Z2.0 ; safety height
}

What we need are the variables to make proper use of the thermistor of the PINDA.