Hi all,

We're trying to use the stall detection feature of the TMC2209 in the Duet 3 Mini 5+ with a lead screw NEMA 11 motor (https://de.nanotec.com/produkte/2568-lsa281s10-a-ugfc-152), but haven't had any luck so far. From reading through the dozuki and the TMC2209 datasheet, it seems like the expected problem would be to detect false stalls too often, but in our case, we cannot detect any stalling at all.

I've tried setting M915 with ridiculous values such as:

M915 X Y S-64 (most sensible threshold) F0 (unfiltered) H1(stall detection considered even at 1 step per second speed) R2

Driver 0.0: stall threshold -64, steps/sec 1, coolstep 0, action on stall: run macro

But even with this consideration, stalling is never detected at any speed, and the motor continues to miss steps against a high load.

Attaching the output of M569 P0:

Drive 0 runs in reverse, active low enable, timing fast, mode stealthChop, ccr 0x00053, toff 3, tblank 0, tpwmthrs 4 (297.7 mm/sec), pwmScaleSum 15, pwmScaleAuto 0, pwmOfsAuto 125, pwmGradAuto 10, pos 984

and the output of M906 to show the current configuration of the motor:

Motor current (mA) - X:1414, Y:1414, Z:1, E, idle factor 30% (I've also tried to run these commands with lower motor current values)

I've seen that the TMC2209 uses StallGuard4 instead of StallGuard2, which has a different tuning procedure. Is this supported by Duet?

Any help to put me into the right direction would be highly appreciated.

Thank you in advance for your time.

Best,
Roc