Posts made by pixelpieper

@dc42 Its a bit of a tradeoff, I want to cover a range from -20ºC to 120ºC, have to compare whether a 10k thermistor would still work well on the upper end - thanks for the suggestion!

In case anyone ever runs into this: I replaced the 2k2 series resistance on one of the thermistor inputs with a 10k resistor which shifted the range down to about -19ºC. Make sure to configure the 10k resistance in your config.g using the R parameter of M308. This will likely limit the measurement range on the upper end (which isn't a concern for my application).

M308 S0 P"ctemp" Y"thermistor" T100000 B3950 R10000 ; configure sensor 0 as thermistor on pin bedtemp

For a university test setup I am trying to control a peltier element with a duet 2 maestro board which seems to work quite well with enabling the inversion in M307.

Unfortunately, when I reach about -4ºC the thermistor stops working and the printed temperature jumps to -273.1ºC, triggering a heater fault event. Is this a firmware limit or can I work around by using a PT1000 / PT100 / K-Type Thermocouple instead?

Relevant config.g snippet:

M308 S0 P"bedtemp" Y"thermistor" T100000 B3950 ; configure sensor 0 as thermistor on pin bedtemp
M950 H0 C"bedheat" T0                          ; create nozzle heater output on bedheat and map it to sensor 0
M307 H0 B0 I1 S1.00                            ; disable bang-bang mode for heater  and set PWM limit

@o_lampe it doesn't have dedicated CAN hardware, but it does have programmable GPIO (PIO) which can be used to implement CAN, offloading at least some of the processing into a sequencer like state machine. There is still a need for the processor to take care of some of the package handling, but since we have two cores it's not that bad...

@dc42 Has there been any changes to the handling of relative/absolute movement? I did an update this morning and it broke my homing routine, driving the print head further even after triggering the endstop. Spend two hours trying to find a hardware gremlin - coincidentally there was a loose screw close to my hall sensor XY endstop board, so I had to remove the sensor board and had to disconnect the wiring, so that was my first suspect. Only after realizing that the endstops worked as expected in the object model I started suspecting a firmware issue and now tried to downgrade to 3.4.4 which fixed the problems.

Voron 2.4 with Duet 3 Mini 5+ / 1LC 1.1

For reference:

homeall.g working in 3.4.4, but failing in 3.4.5 (unessential stuff commented for debugging)

;; Slightly optimized XYZ home without performing extra z hops
var x_accel = move.axes[0].acceleration
var y_accel = move.axes[1].acceleration
var z_accel = move.axes[2].acceleration
var x_speed = move.axes[0].speed
var y_speed = move.axes[1].speed
var z_speed = move.axes[2].speed

M913 X50 Y50 Z50 ; half the currents
;M201 X{var.x_accel/2} Y{var.x_accel/2} Z{var.z_accel/4} ; quarter the accelerations
;M203 X{var.x_speed/2} Y{var.x_speed/2} Z{var.z_speed/4} ; quarter the speed

; relative movement
G91

; Lift Z relative to current position if needed

;if !move.axes[2].homed
;  G1 H2 Z5 F1800
;elif move.axes[2].userPosition < 10
;  G1 Z5 F9000

; Coarse home X or Y
;G1 X300 Y300 F2400 H1
;G1 X300 Y300 F2400 H1

; Coarse home X
G1 X600 H1

; Coarse home Y
G1 Y600 H1

; Move away from the endstops
;G1 X-50 Y-50 F9000

; Fine home X
;G1 X600 F360 H1

; Fine home Y
;G1 Y600 F360 H1

;M201 X{var.x_accel} Y{var.x_accel} ; reset the XY accelerations
;M203 X{var.x_speed} Y{var.x_speed} ; reset the XY speed

; Absolute positioning
G90                             ; absolute positioning

; Home Z with the switch at the back
;G1 X{global.z_stop_x} Y{global.z_stop_y} F99999             ; move to directly above mechanical Z-switch
;G30 K0 Z-9999 ; probe

G1 X{global.bed_center_x} Y{global.bed_center_y} F5000             ; move to center of bed
G30 K1 Z-9999 ; probe

; brush nozzle
M98 P"/macros/moveto/brush_xy.g"

G1 X{global.bed_center_x} Y{global.bed_center_y}  F5000             ; move to directly above mechanical Z-switch
G30 K1 Z-9999 ; probe again

; Restore high currents, speed & accel
M913 X100 Y100 Z100
M201 X{var.x_accel} Y{var.x_accel} Z{var.z_accel}
M203 X{var.x_speed} Y{var.x_speed} Z{var.z_speed}

; Move above center of the bed
G1 X125 Y125 Z50

config.g

;; system and network --------------------------------------

M550 PMunin	; hostname
M669 K1                 ; corexy mode
M552 S1 P"M"
M586 P2 S1 R23 T0 ; enable telnet
M586 P1 S1 T0	  ; enable ftp
;M555 P2		  ; set Marlin output mode

G21			; millimeter units
G90			; absolute tool coordinates
M83			; relative extruder coordinates

; constants of the device geometry
global max_x = 250
global max_y = 256

global z_stop_x = {global.max_x-24.5}
global z_stop_y = {global.max_y-3}

global bed_center_x = {global.max_x/2}
global bed_center_y = {global.max_y/2}

global mag_probe_x = 51
global mag_probe_y = {global.max_y}
global mag_probe_z = 1.7

global QGL_probe = 3 ; 1 = inductive, 2 = magnet, 3 = tap

; speed & acceleration settings mm/min
global xy_accel = 10000;
global z_accel = 1000;

global xy_speed = 60000;
global z_speed = 6000;

;; enable paneldue

;M575 P1 B57600 S1
M569 P0 S1      ; E0 motor direction

M569 P1 S0 ;D3 V5000    ; Y motor direction
M569 P2 S1 ;D3 V5000    ; X motor direction
                 
M569 P5 S0      ; ZFL motor direction
M569 P4 S1      ; ZBL motor direction
M569 P3 S0      ; ZBR motor direction
M569 P6 S1      ; ZFR motor direction

M584 X2 Y1 Z5:4:3:6 E121.0			; motor drive mapping
M350 X16 Y16 Z16 E16 I1             ; set microstepping
M92 X80 Y80 Z400 E727.5				; set microsteps per mm 


;;M574 X2 Y2 Z0 S1        			; endstops


;M574 Z1 S1 P"io4.in"   ; Z min active high endstop switch

M671 X-65:-65:315:315 Y-10:325:325:-10 S20	; Z leadscrews positions



M84 S3600                           ; motor idle timeout
M906 I50                            ; motor idle current percentage

;E655             	



; Mini 12864
M918 P2 E-4 R3 C100       ; Enable FYSetc Mini 12864 
M150 X2 R255 U255 B255 S3 ; FYSETC Neopixel background: set all 3 LEDs to white
;M950 P0 C"io3.out" Q500  ; generate PWM pin (red on mini12864 V1.2)
;M42 P0 S0 ; turn off

;; geometry ------------------------------------------------


M208 X0 Y0 Z-3 S1	; S1 = set axes minima
M208 X{global.max_x} Y{global.max_y} Z235 S0  ; S0 = set axes maxima
M208 X250 Y256 Z235 S0  ; S0 = set axes maxima
M557 X20:240 Y25:235 S20    ; configure z probing grid for mesh compensation

;M98 P"/macros/zprobe/use_mfast.g"
;M98 P"/macros/zprobe/use_ifast.g"

; mechanical switch
M558 K0 P5 C"io4.in" I0 H0 R0.1 F1200 T99999 A1 B1
G31 K0 X0 Y0
	
; inductive probe
;M558 K1 P8 C"121.io2.in" I1 A3 H12 R0.1 F800 T99999 A1 B1
;G31 P1000 K1 X0 Y25 Z0.318

; magprobe
;M558 K2 P8 C"121.IO1.in" F150 T1000 H2
;G31 P1000 K2 X-2.5 Y38.5 Z7



; tap tap tappa di tap tap dooo
M558 K1 P8 C"^121.io0.in" I1 A3 H12 R0.1 F800 T99999 A1 B1
G31 P1000 K1 X0 Y0 Z-0.76


;; drive ---------------------------------------------------

;; Motor layout:
;;  E0 E1
;;  YB XA
;;  Z2 Z3
;;  Z0 Z1


; Magnet homing
M574 X2 S1 P"!io6.in"   ; X min active low endstop switch
M574 Y2 S1 P"!io5.in"   ; Y min active low endstop switch


; Sensorless Homing
;M574 X2 S3
;M574 Y2 S3
;M915 X Y R0 F0 S3


;; velocity, acceleration, and current settings are in these macros
M98 P"/macros/drive/xy_fullcurrent.g"
M98 P"/macros/drive/z_fullcurrent.g"
M98 P"/macros/drive/e_fullcurrent.g"


;; firmware retraction -------------------------------------

;; Choose one as your default:
;M98 P"/macros/retraction/quiet_nozhop.g
;M98 P"/macros/retraction/quiet_zhop.g
M98 P"/macros/retraction/pa_nozhop.g"
;M98 P"/macros/retraction/pa_zhop.g"

;; thermal -------------------------------------------------
; Sensors --------------------------------------------------
M308 S0 P"temp0" Y"thermistor" T100000 B3950 A"Bedmat"; configure sensor 0 as thermistor on pin temp0
M308 S1 P"121.temp0" Y"pt1000" A"Hotend"  ; configure sensor 1 as thermistor
;M308 S1 P"e0temp" Y"thermistor" T100000 B3950 A"Hotend"
M308 S2 P"121.temp1" Y"thermistor" T100000 B3950 A"Chamber"	;Chamber fan
M308 S3 Y"mcu-temp" A"Board"
;M308 S4 P"e1temp" Y"thermistor" T100000 B3950 A"Bedplate"
 
; Heaters --------------------------------------------------
;Bed
M950 H0 C"out0" T0                           ; create bed heater output on out0 and map it to sensor 4
M950 H1 C"121.out0" T1                           ; create nozzle heater output on e0heat and map it to sensor 1
M140 H0   

;PID Settings
M307 H0 A301.0 C845.3 D1.4 S1.00 V23.6 B0	
M307 H1 A482.6 C291.7 D5.5 S1.00 V23.6 B0 ;V6

; Monitors & Limits
;M143 H0 P1 T0 A2 S130 C0                     ; Regulate (A2) bed heater (H0) to have pad sensor (T0) below 110°C. Use Heater monitor 1 for it
;M143 H0 P2 T0 A0 S135 C0                     ; Fault (A0) bed heater (H0) if pad sensor (T0) exceeds 135°C. Use Heater monitor 2 for it
M143 H0 P0 S130                            ; Set bed heater max temperature to 120°C, use implict monitor 0 which is implicitly configured for heater fault
M143 H1 S400                                  ; set temperature limit for heater 1 to 275C

M912 P0 S-8 ;MCU tempurature sensor correction


;; fans -------------------------------------------------
;Parts
M950 F0 C"121.out2" Q500
M106 P0 S0 B0.1 L128 C"Part"               ; part fan

;Hot End
M950 F1 C"121.out1" Q500
M106 P1 T60 H1 C"Hotend" ; hotend fan PWMED DOWN

;Board cooling
M950 F2 C"0.out3" Q500 
M106 P2 S0.5 C"Board"; On when MCU temp (H3) reaches 45C
;H2 L180 X255 T30:50
;M106 P2 S255 C"Board"

M950 F3 C"0.out4" Q500
M106 P3 S0 C"Exhaust"

M950 F4 C"0.out5" Q500
M106 P4 T40 H0 C"Nevermore"

;M950 F5 C"0.out1" Q500
;M106 P5 S1 C"IKEAFILTER" ; Filter

;; tools ---------------------------------------------------

M563 P0 D0 H1       ; bind tool 0 to drive and heater
G10 P0 X0 Y0 Z0     ; tool offset
G10 P0 S0 R0        ; tool active and standby temp

T0                  ; activate tool 0

;; Accelerometer

M955 P121.0 I05

;; Input shaper

M593 P"EI3" F41.6 S0.05

;; filament sensor ---------------------------------------
;M591 D0 P3 C3 S0 R75:125 L24.8 E3.0 ; Duet3D rotating magnet sensor for extruder drive 0 is connected to E0 endstop input, enabled, sensitivity 24.8mm.rev, 85% to 115% tolerance, 3mm detection length

;M591 P5 C"e0stop" S1 ; Laser Filament Monitor

;; Buttons on the toolboard
M950 C"121.button0" J0 
M950 C"121.button1" J1 

M581 P0 T2
M581 P1 T3 

@Herve_Smith I have this experimental one which mounts the 1LC in the flap, leaves just enough room to allow for the chain and exposes the two buttons which I have programmed to extrude/retract

@droftarts Well done, this looks so much better than the Dozuki, must have been a ton of work.

@jay_s_uk here you go. Note that the VOC activated carbon filter is sold separately.

@phaedrux Yes

I grabbed one of the IKEA air filters last weekend and was surprised to find out at home that it is actually a 24V device - 800mA, 19W and hence very well suited for being hooked up to a heater output on my Duet 3 Mini…

I tried to find the plugs used by IKEA but failed, so I ended up just cutting the wire. Black is gnd, white is 24V if you want to do the same. I just configured it as a fan in my config.g

@dc42 That sounds good, I am aware that I anyway would need a small level shifting PCB, so adding a dedicated regulator to not overwhelm the LDO would be fine. I just really dont want more wires in my cable chain

Would it be possible to add neopixel support to the 1LC firmware on IO0? I am aware that I will likely need to add a buffer as a level shifter and that I won’t be able to drive more than maybe three or four pixels, but it would simplify adding lights to the toolhead.

@o_lampe said in Comparing klipper and RRF input shaper data collection:

@pixelpieper said in Comparing klipper and RRF input shaper data collection:

based on theory each acceleration and deceleration contain all the frequency components

Wouldn't it take a certain time for the frame to get into resonance? If so, the frequency in question would need to be applied for longer than just the short accel/deccel time?

No, this is just the stimmulating signal - the closest equivalent I could think about would be a tuning fork, it just needs a very short tap to resonate for a long time.

@gloomyandy said in Comparing klipper and RRF input shaper data collection:

@pixelpieper Thanks for pointing this out.

Honestly I'm not sure if ramping the frequency helps capture a better data set or not, that is simply the way in which klipper does it and was what I was aiming to investigate. I was just pointing out that at the moment if you use standard RRF and my script you will not be capturing all of that data. From your second post I would have thought that this may be a bad thing if the klipper sweep is operating correctly?

Yes.

As to the actual sampling rate used again this is a difference between RRF and klipper (klipper typically samples at 3200 samples/s). I have no idea if this is significant or not (it certainly means that klipper will have more samples to process). The shaper tuning only seems to consider relatively low frequencies (a max of 200Hz for RRF and I think something similar for klipper), so in theory so long as the sample rate is above 400 samples/second then it should be usable.

Yes, as long as we stay above 400 Hz we are fine.

I suspect that one of the key advantages that the klipper method has is that it just provides more usable samples than that produced by the current RRF method. Perhaps it might be better to collect several datasets using the RRF method and combine them to increase the number of usable samples?

That should work and will allow us to do a longer FFT which in turn results in a finer frequency resolution.

I'd also note that the current plugin (and the how to use instructions) do not make any mention of what acceleration to use, perhaps it would be better to set a higher acceleration if using this method? I wonder if it would be possibly to apply a higher acceleration value just for the deceleration phase of the move as I assume it is this that provides the impulse in this case?

Accelleration and decelleration equally produce the same kind of oscillations, it should not matter.

One final thought, I've seen a number of plots that have been produced by myself and other posters in which there seems to be a significant low frequency peak when using the current RRF method, this does not seem to be present with the klipper method. See the first two graphs above, one has a peak around 16Hz that does not seem to be present in the klipper data. I'm not sure which one is correct, but from measuring the ringing on actual prints this peak does not seem match.

Someone earlier in this thread mentioned that Klipper filters very low and high frequency components, hence it is expected that these peaks would dissappear.

One thing I should have mentioned: these are two fundamentally different approaches to achieve the same thing.

• Klipper does a sweep where they try to stimulate the system at different frequencies. The ideal input signal for this measurement is a perfect sinusoidal not containing other frequency components, the unknown factor here is how well the sinusoid is approximated by the acceleration/deceleration curves.

• RRF measures an impulse response based on a fast movement. The ideal input signal here is a very fast acceleration which equally contains all the frequency components of interest. The question here is how well that is achieved.

Both should come to a similar conclusion.

@gloomyandy said in Comparing klipper and RRF input shaper data collection:

Folks, please be aware that if you use this script with a the current version of RRF (V3.4beta6) or a previous version then you will only be able to collect a maximum of 64K samples (so approx 50 seconds of data, with a sample rate of approx 1320), given that the gcode generated by this script runs for longer than this you may not have good coverage of higher frequencies (as they come later in the test sequence). In my tests I am using a modified (and currently unreleased) version of RRF. Later versions of RRF may make it possible to collect more samples but that is up to @dc42. You may be able to experiment with a capturing the full range by setting your accelerometer to use a lower sampling rate, but this is not something I have tried.

It's been a while since I have had my signal processing classes, so feel free to correct any mistakes, but based on theory each acceleration and deceleration contain all the frequency components. (Ok, this is only true for an infinite acceleration / deceleration, but a fast move should be close enough to capture the frequency range of interest.)

The Klipper approach wiggling the head about is mainly giving you more data and hence a higher resolution of the spectrum which is why you see more noise in the plot.

Btw,. reducing the sampling rate "to capture the full range" will have the opposite effect: the Nyquist–Shannon sampling theorem applies and reducing the sampling rate reduces the maximum frequency that can be sampled which is f_sampling/2.

@jay_s_uk global variables aren't persistent...

@dc42 Sorry for not following up further, I am currently on vacation away from my printer, but I am happy to try the builds when I am back in a week if it still makes sense.

@dc42 sorry, I am in Switzerland...

@dc42 Sorry for the late reply, this week has been crazy... - here are the values & my firmware version

12.8.2021, 19:59:41 	m122 b121 p1007 a{0x4200442c}
Address 0x4200442c value 0x00000607
12.8.2021, 19:59:21 	m122 b121 p1007 a{0x806020}
Address 0x00806020 value 0x190cefbe
12.8.2021, 19:58:54 	M115 B121
Duet TOOL1LC firmware version 3.4.0beta2+1 (2021-08-08 13:53:53)
12.8.2021, 19:58:24 	Board 121 starting firmware update

P.S.: beautiful undocumented peek command