@NeoDue I too, previously had layer shifts. With the newer firmware, there are no layer shifts and it works great!

Thank you, @dc42!!

@o_lampe I think how @dc42 interacts with the community and listens to each one of us, is what makes the whole Duet ecosystem amazing!

While the endstop values are high, I don't think it is related to that. @dc42 what do you think?

Thanks,
Balaji

@balajiramani I tried the 3.5rc1+ firmware and the slope is no longer there.

So, after removing daemon.g, there are no pauses. Sorry for the false alarm.

@DonStauffer I too am having a similar problem with bed levelling. Printing with 3.6.0-alpha2+3 works fine and the input shaping is absolutely awesome! BTW, the printer I have is a delta.

The input shaping is so good that I am able to increase the accleration and jerk, without any artefacts. I was also able to drop the pressure advance value. I went from 0.21 to 0.14.

@dc42 Thank you! Verified that this version workes, irrespective of what the starting point for the bed calibration is.

@droftarts The hissing sound is from the fans. The noise that I am referring to can be heard at 7 and 19 seconds in the video. It is from the delta tower motors. I am using a Duet Wifi 2 board. Input shaping is turned on. Here is the config.g file. Here is the output of M122 when the issue arises:

M122
=== Diagnostics ===
RepRapFirmware for Duet 2 WiFi/Ethernet version 3.6.0-beta.2 (2024-11-12 08:12:30) running on Duet WiFi 1.0 or 1.01
Board ID: 08DAM-999TL-MQ4SD-6JTDL-3SS6N-968BX
Used output buffers: 3 of 26 (19 max)
=== RTOS ===
Static ram: 23536
Dynamic ram: 67308 of which 12 recycled
Never used RAM 9316, free system stack 122 words
Tasks: NETWORK(1,ready,23.3%,195) HEAT(3,nWait 5,0.1%,328) Move(4,nWait 5,7.4%,264) MAIN(1,running,69.2%,742) IDLE(0,ready,0.0%,29), total 100.0%
Owned mutexes:
=== Platform ===
Last reset 00:08:48 ago, cause: software
Last software reset at 2024-12-08 19:04, reason: User, Gcodes spinning, available RAM 12172, slot 2
Software reset code 0x0003 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x00400000 BFAR 0xe000ed38 SP 0x00000000 Task MAIN Freestk 0 n/a
Error status: 0x00
Aux0 errors 0,0,0
MCU temperature: min 35.8, current 36.0, max 36.5
Supply voltage: min 23.6, current 24.2, max 24.5, under voltage events: 0, over voltage events: 0, power good: yes
Heap OK, handles allocated/used 99/2, heap memory allocated/used/recyclable 2048/1140/1072, gc cycles 1
Events: 0 queued, 0 completed
Date/time: 2024-12-11 20:25:22
Slowest loop: 16.23ms; fastest: 0.14ms
I2C nak errors 0, send timeouts 0, receive timeouts 0, finishTimeouts 0, resets 0
=== Storage ===
Free file entries: 8
SD card 0 detected, interface speed: 20.0MBytes/sec
SD card longest read time 0.9ms, write time 0.0ms, max retries 0
=== Move ===
Segments created 746, maxWait 45ms, bed comp in use: none, height map offset 0.000, hiccups added 65/0 (0.00ms), max steps late 0, ebfmin 0.00, ebfmax 0.00
Pos req/act/dcf: 67028.00/66704/0.74 63402.00/63796/-0.93 68665.00/68591/-0.77
next step interrupt due in 68 ticks, disabled
Driver 0: stalled, SG min 0
Driver 1: ok, SG min 0
Driver 2: ok, SG min 0
Driver 3: ok, SG min 0
Driver 4: standstill, SG min n/a
Driver 5: 
Driver 6: 
Driver 7: 
Driver 8: 
Driver 9: 
Driver 10: 
Driver 11: 
=== DDARing 0 ===
Scheduled moves 3130, completed 3091, LaErrors 0, Underruns [0, 0, 0]
=== Heat ===
Bed heaters 0 -1 -1 -1, chamber heaters -1 -1 -1 -1, ordering errs 0
Heater 0 is on, I-accum = 0.2
Heater 1 is on, I-accum = 0.2
=== GCodes ===
Movement locks held by null
HTTP is idle in state(s) 0
Telnet is idle in state(s) 0
File is idle in state(s) 3
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
Daemon is idle in state(s) 0
Autopause is idle in state(s) 0
Q0 segments left 0
Code queue 0 is empty
=== Network ===
Slowest loop: 22.00ms; fastest: 0.07ms
Responder states: 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 2.2.0
MAC address 5c:cf:7f:2c:25:00
Module reset reason: Turned on by main processor, Vcc 3.40, flash size 4194304, free heap 40844
WiFi IP address 192.168.1.61
Signal strength -46dBm, channel 6, mode 802.11n, reconnections 0
Clock register 00002002
Socket states: 0 0 0 0 0 0 0 0

I updated to 3.6.0-beta.2 and I noticed that there were some strange motor noise during printing. I also noticed that there were some layer shifts some times. I am attaching a video that shows the noise. I later lowered the acceleration for both X and Y from 4000 to 1000 and the noise went away. I went back to 3.6.0-beta.1 and noticed that there were no issues and the printer is able to handle the acceleration value of 4000.

The printer I have is a delta (not sure if this is something specific to a delta).

Here is the gcode that triggered the issue

22-334StringStar2L2N4open_0.2mm_PLA_BigDelta_12m.gcode

Here is the video that shows the motor noise - https://photos.app.goo.gl/dX5uqjCsf5SBth4Y9

@dc42 Yes, it is a Duet 2 Wifi board.

@dc42 I uploaded the 3.6.0-beta2+4 build an changed the height from 50mm to 10mm to as it would be easier to see if the problem occurs. When pausing, the effector moves in a straight line, but when resuming, it moves in a 'U' shape. I am attaching a video that shows that.

PXL_20241205_050140998.TS.mp4

@dc42 any update on this?

@dc42 were you able to look into this issue?

I paused a print and tried to resume it and the effector moved in a "U" shaped move when resuming the print. Due to this, the nozzle crashed into the printed part and messed up. This is on a delta printer.

I am attaching config.g, pause.g and resume.g.

Thanks,
Balaji

@dc42 Understand. Let me know if I can help in any way.

@dc42 I was wondering when we might a fix for this issue? I really like the quality of the prints with 3.6 and hence don't want to downgrade, but can't start a long print because of the step timing error.

I just started a long print (6+ hours) and approximately 2.5 hours into the print, the job failed with the "Error: Movement halted because a step timing error occurred (code 3). Please reset the controller." error. This is with the 3.6.0-alpha.5+1 firmware.

Here is the output of M112 right after the error:

M122
=== Diagnostics ===
RepRapFirmware for Duet 2 WiFi/Ethernet version 3.6.0-alpha.5+1 (2024-08-31 17:50:58) running on Duet WiFi 1.0 or 1.01
Board ID: 08DAM-999TL-MQ4SD-6JTDL-3SS6N-968BX
Used output buffers: 13 of 26 (21 max)
=== RTOS ===
Static ram: 23360
Dynamic ram: 67504 of which 12 recycled
Never used RAM 11864, free system stack 102 words
Tasks: NETWORK(2,nWait 6,15.3%,195) HEAT(3,nWait 5,0.1%,309) Move(4,invalid,5.2%,266) MAIN(1,running,79.4%,752) IDLE(0,ready,0.0%,29), total 100.0%
Owned mutexes: WiFi(NETWORK)
=== Platform ===
Last reset 02:31:01 ago, cause: software
Last software reset at 2024-09-16 11:25, reason: User, Gcodes spinning, available RAM 28192, slot 2
Software reset code 0x0003 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x00400000 BFAR 0xe000ed38 SP 0x00000000 Task MAIN Freestk 0 n/a
Error status: 0x00
Aux0 errors 0,0,0
MCU temperature: min 27.7, current 48.5, max 49.4
Supply voltage: min 23.5, current 24.2, max 24.6, under voltage events: 0, over voltage events: 0, power good: yes
Heap OK, handles allocated/used 99/2, heap memory allocated/used/recyclable 2048/1132/1072, gc cycles 1
Events: 0 queued, 0 completed
Date/time: 2024-09-16 13:56:21
Slowest loop: 218.04ms; fastest: 0.13ms
I2C nak errors 0, send timeouts 0, receive timeouts 0, finishTimeouts 0, resets 0
=== Storage ===
Free file entries: 8
SD card 0 detected, interface speed: 20.0MBytes/sec
SD card longest read time 9.4ms, write time 3.1ms, max retries 0
=== Move ===
Segments created 639, maxWait 442509ms, bed comp in use: none, height map offset 0.000, hiccups added 5 (0.15ms), max steps late 1, ebfmin 0.00, ebfmax 0.00
Pos req/act/dcf: 68366.00/68371/-0.79 66822.00/66848/-0.92 76754.00/76740/0.84
no step interrupt scheduled
Driver 0: standstill, SG min 0
Driver 1: standstill, SG min 0
Driver 2: standstill, SG min 0
Driver 3: standstill, SG min 0
Driver 4: standstill, SG min n/a
Driver 5: 
Driver 6: 
Driver 7: 
Driver 8: 
Driver 9: 
Driver 10: 
Driver 11: 
=== DDARing 0 ===
Scheduled moves 912010, completed 912008, LaErrors 0, Underruns [17, 0, 0]
=== Heat ===
Bed heaters 0 -1 -1 -1, chamber heaters -1 -1 -1 -1, ordering errs 0
Heater 0 is on, I-accum = 0.1
Heater 1 is on, I-accum = 0.2
=== GCodes ===
Movement locks held by null
HTTP is idle in state(s) 0
Telnet is idle in state(s) 0
File is doing "G1 X-6.539 Y47.848" 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
Daemon is idle in state(s) 0
Autopause is idle in state(s) 0
Q0 segments left 1
Code queue 0 is empty
=== Network ===
Slowest loop: 195.01ms; fastest: 0.00ms
Responder states: HTTP(0) HTTP(4) 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 2.1.0
MAC address 5c:cf:7f:2c:25:00
Module reset reason: Turned on by main processor, Vcc 3.40, flash size 4194304, free heap 40984
WiFi IP address 192.168.1.61
Signal strength -28dBm, channel 6, mode 802.11n, reconnections 0
Clock register 00002002
Socket states: 0 0 0 0 0 0 0 0

Here is config.g:

; Setup some global variables
global power_fail_retract = 2   ;  Retract 2mm when power fails

; Communication and general
M550 P"BigDelta"				        ; Machine name and Netbios name (can be anything you like)
M551 Preprap                        	; Machine password (used for FTP)
M552 S1					                ; Enable WiFi. Disabled for setup and testing. Enable once set up on your network.

; Enable telnet
M586 S1 P2

; Debugging
M111 S0                                 ; Debug off
M929 P"eventlog.txt" S1                 ; Start logging to file eventlog.txt

M555 P2                           	    ; Set output to look like Marlin
G21                                 	; Work in millimetres
G90                                	    ; Send absolute coordinates...
M83                                 	; ...but relative extruder moves

; Axis and motor configuration
M569 P0 S0				; Drive 0 goes backwards
M569 P1 S0				; Drive 1 goes backwards
M569 P2 S0				; Drive 2 goes backwards
M569 P3 S0				; Drive 3 goes backwards

; Assign extruder drive
M584 E3


; Set homing switch config
M574 X2 S1 P"!xstop"        ; Set homing switch configuration on S1 = high-end, active-low
M574 Y2 S1 P"!ystop"        ; Set homing switch configuration on S1 = high-end, active-low
M574 Z2 S1 P"!zstop"        ; Set homing switch configuration on S1 = high-end, active-low

; Set it as a linear delta
M669 K3

; Setup paneldue 5i
M575 P1 S1 B57600

M665 R215.062 L395.317:395.475:395.433 B160 H374.050		; set delta radius, diagonal rod length, printable radius and homed height
M666 X0 Y0 Z0				; put your endstop adjustments here, or let auto calibration find them
M350 X16 Y16 Z16 E16 I1    	; Set 16x microstepping with interpolation
M92 X200 Y200 Z200			; Set axis steps/mm

M906 X1400 Y1400 Z1400 E1400 I60	; Set motor currents (mA) and increase idle current to 60%
M84 S60                             ; Set idle timeout
M201 X12000 Y12000 Z2000 E10000     ; Accelerations (mm/s^2)
M203 X30000 Y30000 Z5000 E3600		; Maximum speeds (mm/min)
;M566 X900 Y900 Z300 E1200 P1		; Maximum instant speed changes mm/minute
;M566 X300 Y300 Z300 E450 P1        ; Maximum instant speed changes mm/minute
M566 X600 Y600 Z300 E900 P1		    ; Maximum instant speed changes mm/minute
M204 P9000 T9000                    ; Set acceleration for print and travel moves

; Configure Input shaping
M593 P"zvdd" F45

; Thermistors
M308 S0 P"bed_temp" Y"thermistor" T100000 B3950 R4700 H30 L0	; Put your own H and/or L values here to set the bed thermistor ADC correction
M308 S1 P"e0_temp" Y"thermistor" T100000 B3950 R4700 H30 L0	; 100K NTC 
;M308 S1 P"e0_temp" Y"thermistor" T100000 B4658 C6.5338987554e-08 ; 104-NT Aliexpress thermistor

M950 H0 C"bed_heat" T0      ; Set up H0 as the bed heater using T0 as the sensor
M950 H1 C"e0_heat" T1       ; Set up H1 as the extruder heater using T1 as the sensor
M140 H0                     ; Map H0 as the bed heater

; Set temperature excursion warnings
M570 H0 P20
M570 H1 P20

M308 S3 Y"mcu-temp" A"MCU" ; configure sensor 3 as thermistor on pin e1temp for left stepper
M308 S4	Y"drivers"  A"Drivers"  ; configure sensor 4 as temperature warning and overheat flags on the TMC2660 on Duet
M912 P0 S-3.5               ; Calibrate MCU temp

; Fan definitions
M950 F0 C"fan0"
M950 F1 C"fan1"
M950 F2 C"fan2"

; Thermostatic fan on 1 for cooling the hotend
M106 P1 T50 H1
; Thermostatic fan on 2 for cooling the board
M106 P2 H3:4 L.3 X1 B0.3 T35:70 ; set fan 2 value

; Tool definitions
M563 P0 D0 H1                       	; Define tool 0
G10 P0 S0 R0                        	; Set tool 0 operating and standby temperatures
;M92 E1392								; Based on https://www.thingiverse.com/thing:1359717; 2023/01/06
M92 E1077.1646                          ; This is the new value for the hobb-goblin extruder.  03/07/2023
;M92 E319.2005                           ; Set extruder steps per mm.  This is for the MK8 gear

; Z probe and compensation definition
M558 P8 C"^!zprobe.in" R0.4 H4 F1200 T6000 A5 S0.01	; Z probe is a piezo sensor
G31 X0 Y0 Z-0.08 P100			; Set the zprobe height and threshold
M557 R150 S20				; Probe within a radius of 150mm and mesh spacing of 20
M376 H5                     ; Taper off bed compensation after 5mm

; Configure power failure and resume
M911 S21.0 R23.0 P"G91 M83 G1 Z3 E{-global.power_fail_retract} F1000" ; Relative movement and extrusion.  Move head up and retract 2mm filament.

M208 S1 Z-0.5				; set minimum Z
T0					        ; select first hot end

M501					    ; Load any config overrides