@ctilley79 said in Duet 3 Mini 5 Sensorless Homing 0.9 degree motors:
@dc42 Gotcha. Now that I've gotten it to stall, do you have a process to find out what current, sensitivity and H parameter to set and in what order I should set those?
You don't need to adjust the H parameter, it just needs to be low enough so that stall detection can occur at your chosen homing speed.
The motor current needs to be high enough to drive the axis reliably towards the endstop. Other than that, lower current makes stall detection easier. A value of 30% or normal current is typical. So try setting 30% in M913 and check that the axis moves reliably at that current. If it doesn't, try 40% or 50%.
Having selected the current, you can tune the M915 stall detection threshold. Too high and the stall won't be detected, or the axis will bang into the endstop too hard before the stall is detected. Too low and false stalls will be detected before the axis reaches the endstop.
One other parameter you can adjust is the M201.1 acceleration parameter for special moves, especially if you have a high normal acceleration set in M201. If there is a tendency to get a stall as soon as the axis starts moving, setting reduced acceleration in M201.1 may avoid that happening.
