@T3P3Tony
@dc42
I found the problem!!!

the load noise is caused by a slight misplacement of the encoder, if I turn the motor another 90 degrees the noise disappears completely when I slightly move the pcb. Is there a good way to align the encoder pcb? Also the D therm goes almost to zero when the motors are standing still!

Here is a video:
encoder.mp4

@dc42

I tried a P therm of 15. But i get those high peaks (Error/PID) in the accelereation segments of the move.

@jay_s_uk

Days will pass until there is finally a new display🥲 I hope it will be soon…

@jay_s_uk

Would 5 inches be enough?

I'm currently in the process of connecting my Duet 5 mini to an SBC. I'm not sure yet whether it makes sense to upgrade my PanelDue (the interface is very outdated) to a 5-inch HDMI touch display. Unfortunately, I can't find any pictures of what DWC looks like on a touch display. Does anyone have some for me?

@dc42

This is the plot befor adding the D therm

Should i use 30-50% off the current P therm and test again?

@dc42

I did a quick, rough tuning to see if I was making any mistakes.

Step 1 Speed and Accels

Speed too low

Speed Ok

Step 2 A therm

A too low (A30.000)

A therm is ok(A40.000)

A too heigh odd spikes in P therm(A50.000)

Step 3 V therm

V too low(V300)

V ok(V400)

V too high(V500)

Step 4 D therm

D ok(D0.1)

D better but to loud(D0.2)

Step 5 I therm

P20 A40.000 V400 D0.1 I0 Current tune no steady error. Do i even need a I therm because i dont really have a steady-state error?

I500

I1000

I1500

System specs:

-Version 3.6.0-RC3
-LDO 42STH48-2504AC i pressed in a longer shaft in the rotor to fit an encoder to the back
-48V
-2500A for the motors
-AMT10E3 encoder 2000PPR

@dc42
I use a travel acceleration of 40k mm/s. I tuned it between travel and printing Speed.

@dc42

About */-~1.5 Steps of error in the closed Loop Tuning Plugin. I have set my error boundary to E2:3. I don't get any messages while printing, but I do get them when traveling.

I wanted to get in touch again. I've put the closed loop project on hold for a while and now I want to get back to it. My main problem is the big error when accelerating and decelerating.

@dc42

Yes, i run them at 48V!

This is X axis print speed:

(X-Print)51_2025-03-18_13.50.50.csv

Y axis print speed:

(Y-Print)50_2025-03-18_13.51.00.csv

X axis travel speed:

(X-Travel)51_2025-03-18_13.51.10.csv

Y axis travel speed:

(Y-Travel)50_2025-03-18_13.51.14.csv

This is in open loop: