I just set up my duet 3 with a raspberry pi.
I am upgrading a cnc machine from duet 2 wifi to duet 3 and am wondering if I can use the workbee control on the pi so that I can see the machine/work coordinates. Or maybe just show the machine coordinates as well as work coordinates in the duet 3 web control.
Thanks,
T
@Phaedrux Just tried with RC2, no luck and jerks happen in the same places on same file.
So a few days ago I implemented a dc42 ir sensor on a gantry machine designed to make paintings with duet 3. The idea was that the machine could probe a stationary reservoir of paint with the ir sensor, detect how much paint was remaining in the reservoir, and adjust brush dipping height. This worked extremely well until I started using black paint, which was not detected, and since the sensor triggers 2-3mm above the surface height, the machine dunked the ir sensor in black paint...
Wondering if anyone has a recommendation of a sensor or method of doing this reliably.
The reservoir is only 60mm in height. It would be nice to have +- 1mm accuracy.
One answer would be to use a longer range sensor like this adafruit time of flight :
https://www.adafruit.com/product/3316
This would allow me to limit the probing distance and never have the probe come near the paint,
but would require a little microcontroller to turn i2c into a probe signal (plugged into duet3 toolboard).
The issue with having a float based trigger (like in a toilet) is that paint builds up on it and changes the accuracy.
Anyone have other ideas? It would be great if the sensor I used had a digital output based on a 60mm trigger height. If we can read sensors on toolboards now is there an analog device that would work? Does anything like this exist that would detect acrylic paint and water?
Cheers,
T
I don't know about everyone else here, but when using shielded cable for stepper motors, I end up with a rats nest of extensions and splices leading to ground. My wire shield conductive strand comes out of the wire jacket right next to the 4 stepper wires, and I believe this is common. It would be nice to have a 5pin header with the center/left/right pin being ground for this purpose. Could possibly be confusing but also would help quite a bit with wire tidiness, especially for retrofits etc. The pin could also be separate from the stepper header in order to avoid confusion. Could also be just a through hole in which one could solder in a pin.
Obviously a request for the far future maybe duet 4 etc.
If someone has a really good solution going for this issue that is clean and honors the existing hardware, please let me know.
T
This post is a continuation of what I believe to be this issue:
https://forum.duet3d.com/topic/19352/duet-3-3-2-beta2-sbc-jerking-motion
Issue:
I have a 5-axis machine with linear axes X,Y,Z and rotational axes A,B running rrf3.2 stable.
When sending a series of small segment, commands to the machine, a loud audible clunk happens intermittently.
The types of movements that create the clunks are simultaneous X,Y + A(rotational) moves.
Here is video:
https://youtu.be/egwhWUq8yAg
As you can see, it does not seem as if the machine loses steps, just starts/stops so quickly as to create a jolt.
Changing the M595 movement queue length (I have tried several values from 5 to 1000) only worsens this behavior to the point where steps are lost and even more clunks happen.
Here is my config.g:
;CNC Mode
M453
;Name
M550 P"tristan-painting-machine"
;Brake Pins
M950 P2 C"out8"
M950 P1 C"out7"
;Drivers
M569 P0.0 S0 I1
M569 P0.1 S0 I1
M569 P0.2 S1 I1
M569 P0.3 S0 I1
M569 P0.4 S0 I1
M569 P121.0 S1 I1
;Driver Mapping
M584 X0.3 Y0.1:0.2 Z0.0 S0 R0 P3
M584 A0.4 B121.0 S1 R1 P5
M584 U0.2 P5
;Current
M906 X2000 Y3750 Z2000 U3750 A1750 B1500 I100
;Microstepping
M350 X16 Y16 Z16 U16 A16 I1
;Steps Per MM
M92 X80 Y80 Z80 U80 A46.1062140618 B26.6666
;Instantaneous Speed Change
M566 X500 Y500 Z500 U500 A500
;Max Speeds
M203 X13000 Y13000 Z13000 U6000 A40000 B40000
;Max Acceleration
M201 X750 Y750 Z500 U750 A2000 B2000
;Disable Idle Current Reduction
M84 S0
M917 Y100
;Probe
M558 P9 C"!^121.io0.in" H200 F400 T2000 I1
;Limits
M208 X0 Y-1360 Z-145 A-72000 B-101.4 S1
M208 X1242 Y0 Z0 A72000 B230 S0
;Servos
M950 S3 C"io4.out"
M950 S4 C"io5.out"
;Endstops
M574 U1 S1 P"!io6.in"
M574 Y1 S1 P"!io1.in"
M574 X1 S1 P"!io8.in"
M574 Z1 S1 P"io7.in"
M574 A1 S1 P"io0.in"
;Head Endstop
M574 B1 S1 P"121.io2.in"
;Tool 0
M563 P0 S"Probe"
;Tool 1
M563 P1 S"1/4 Flat Brush"
;Tool 2
M563 P2 S"5/8 Flat Brush"
;Allow Movement
M564 S0 H0
M122 Report:
M122
=== Diagnostics ===
RepRapFirmware for Duet 3 MB6HC version 3.2 running on Duet 3 MB6HC v1.01 or later (SBC mode)
Board ID: 08DJM-956L2-G43S8-6J9D6-3S46R-KU2AD
Used output buffers: 1 of 40 (14 max)
=== RTOS ===
Static ram: 149788
Dynamic ram: 63020 of which 52 recycled
Never used RAM 145972, free system stack 132 words
Tasks: Linux(ready,83) HEAT(blocked,353) CanReceiv(blocked,881) CanSender(blocked,352) CanClock(blocked,352) TMC(blocked,19) MAIN(running,1265) IDLE(ready,19)
Owned mutexes: HTTP(MAIN)
=== Platform ===
Last reset 00:40:24 ago, cause: software
Last software reset at 2021-01-08 22:10, reason: User, none spinning, available RAM 145852, slot 1
Software reset code 0x0012 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x00400000 BFAR 0x00000000 SP 0x00000000 Task Linu Freestk 0 n/a
Error status: 0x00
Aux0 errors 0,0,0
Aux1 errors 0,0,0
MCU temperature: min 42.5, current 43.8, max 44.2
Supply voltage: min 23.5, current 23.9, max 24.2, under voltage events: 0, over voltage events: 0, power good: yes
12V rail voltage: min 12.0, current 12.1, max 12.1, under voltage events: 0
Driver 0: position 54723, standstill, reads 54250, writes 55 timeouts 0, SG min/max 0/1023
Driver 1: position -56731, standstill, reads 54217, writes 88 timeouts 0, SG min/max 0/733
Driver 2: position -4137, standstill, reads 54214, writes 91 timeouts 0, SG min/max 0/837
Driver 3: position 4495, standstill, reads 54230, writes 75 timeouts 0, SG min/max 0/687
Driver 4: position -1200, standstill, reads 54226, writes 79 timeouts 0, SG min/max 0/294
Driver 5: position 0, standstill, reads 54295, writes 11 timeouts 0, SG min/max 0/0
Date/time: 2021-01-08 22:51:03
Slowest loop: 152.89ms; fastest: 0.03ms
=== Storage ===
Free file entries: 10
SD card 0 not detected, interface speed: 37.5MBytes/sec
SD card longest read time 0.0ms, write time 0.0ms, max retries 0
=== Move ===
DMs created 125, maxWait 752461ms, bed compensation in use: none, comp offset 0.000
=== MainDDARing ===
Scheduled moves 630, completed moves 630, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 2, 11], CDDA state -1
=== AuxDDARing ===
Scheduled moves 0, completed moves 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== Heat ===
Bed heaters = -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1, chamberHeaters = -1 -1 -1 -1
=== GCodes ===
Segments left: 0
Movement lock held by null
HTTP* is doing "M122" in state(s) 0
Telnet is idle in state(s) 0
File* is idle 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
SBC is idle in state(s) 0
Daemon is idle in state(s) 0
Aux2 is idle in state(s) 0
Autopause is idle in state(s) 0
Code queue is empty.
=== CAN ===
Messages queued 80, send timeouts 0, received 50, lost 0, longest wait 1ms for reply type 6036, free buffers 48
=== SBC interface ===
State: 4, failed transfers: 0
Last transfer: 1ms ago
RX/TX seq numbers: 21479/21479
SPI underruns 0, overruns 0
Number of disconnects: 0, IAP RAM available 0x2c8a8
Buffer RX/TX: 0/0-0
=== Duet Control Server ===
Duet Control Server v3.2.0
Code buffer space: 4096
Configured SPI speed: 8000000 Hz
Full transfers per second: 35.91
Maximum length of RX/TX data transfers: 3596/1696
M98 P"config.g" returns a green: M98 P"config.g" in the console.
Here also a file which produces many clunks (which is running in video):
wrenches_fake.gcode
It is hard to see which lines of the code cause the issue as I believe it is a problem with sending small segments.
I have had this issue since upgrading to the first of the 3.2 betas, but it does not occur 3.1.1.
Any thoughts?
T
I've had to go back to 3.1.1.
Maybe my use case is too obscure for anyone to weigh in?
I will give this a try in standalone mode tomorrow if that would help debug at all, but I really do prefer using the Pi.
T
This post is a continuation of what I believe to be this issue:
https://forum.duet3d.com/topic/19352/duet-3-3-2-beta2-sbc-jerking-motion
Issue:
I have a 5-axis machine with linear axes X,Y,Z and rotational axes A,B running rrf3.2 stable.
When sending a series of small segment, commands to the machine, a loud audible clunk happens intermittently.
The types of movements that create the clunks are simultaneous X,Y + A(rotational) moves.
Here is video:
https://youtu.be/egwhWUq8yAg
As you can see, it does not seem as if the machine loses steps, just starts/stops so quickly as to create a jolt.
Changing the M595 movement queue length (I have tried several values from 5 to 1000) only worsens this behavior to the point where steps are lost and even more clunks happen.
Here is my config.g:
;CNC Mode
M453
;Name
M550 P"tristan-painting-machine"
;Brake Pins
M950 P2 C"out8"
M950 P1 C"out7"
;Drivers
M569 P0.0 S0 I1
M569 P0.1 S0 I1
M569 P0.2 S1 I1
M569 P0.3 S0 I1
M569 P0.4 S0 I1
M569 P121.0 S1 I1
;Driver Mapping
M584 X0.3 Y0.1:0.2 Z0.0 S0 R0 P3
M584 A0.4 B121.0 S1 R1 P5
M584 U0.2 P5
;Current
M906 X2000 Y3750 Z2000 U3750 A1750 B1500 I100
;Microstepping
M350 X16 Y16 Z16 U16 A16 I1
;Steps Per MM
M92 X80 Y80 Z80 U80 A46.1062140618 B26.6666
;Instantaneous Speed Change
M566 X500 Y500 Z500 U500 A500
;Max Speeds
M203 X13000 Y13000 Z13000 U6000 A40000 B40000
;Max Acceleration
M201 X750 Y750 Z500 U750 A2000 B2000
;Disable Idle Current Reduction
M84 S0
M917 Y100
;Probe
M558 P9 C"!^121.io0.in" H200 F400 T2000 I1
;Limits
M208 X0 Y-1360 Z-145 A-72000 B-101.4 S1
M208 X1242 Y0 Z0 A72000 B230 S0
;Servos
M950 S3 C"io4.out"
M950 S4 C"io5.out"
;Endstops
M574 U1 S1 P"!io6.in"
M574 Y1 S1 P"!io1.in"
M574 X1 S1 P"!io8.in"
M574 Z1 S1 P"io7.in"
M574 A1 S1 P"io0.in"
;Head Endstop
M574 B1 S1 P"121.io2.in"
;Tool 0
M563 P0 S"Probe"
;Tool 1
M563 P1 S"1/4 Flat Brush"
;Tool 2
M563 P2 S"5/8 Flat Brush"
;Allow Movement
M564 S0 H0
M122 Report:
M122
=== Diagnostics ===
RepRapFirmware for Duet 3 MB6HC version 3.2 running on Duet 3 MB6HC v1.01 or later (SBC mode)
Board ID: 08DJM-956L2-G43S8-6J9D6-3S46R-KU2AD
Used output buffers: 1 of 40 (14 max)
=== RTOS ===
Static ram: 149788
Dynamic ram: 63020 of which 52 recycled
Never used RAM 145972, free system stack 132 words
Tasks: Linux(ready,83) HEAT(blocked,353) CanReceiv(blocked,881) CanSender(blocked,352) CanClock(blocked,352) TMC(blocked,19) MAIN(running,1265) IDLE(ready,19)
Owned mutexes: HTTP(MAIN)
=== Platform ===
Last reset 00:40:24 ago, cause: software
Last software reset at 2021-01-08 22:10, reason: User, none spinning, available RAM 145852, slot 1
Software reset code 0x0012 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x00400000 BFAR 0x00000000 SP 0x00000000 Task Linu Freestk 0 n/a
Error status: 0x00
Aux0 errors 0,0,0
Aux1 errors 0,0,0
MCU temperature: min 42.5, current 43.8, max 44.2
Supply voltage: min 23.5, current 23.9, max 24.2, under voltage events: 0, over voltage events: 0, power good: yes
12V rail voltage: min 12.0, current 12.1, max 12.1, under voltage events: 0
Driver 0: position 54723, standstill, reads 54250, writes 55 timeouts 0, SG min/max 0/1023
Driver 1: position -56731, standstill, reads 54217, writes 88 timeouts 0, SG min/max 0/733
Driver 2: position -4137, standstill, reads 54214, writes 91 timeouts 0, SG min/max 0/837
Driver 3: position 4495, standstill, reads 54230, writes 75 timeouts 0, SG min/max 0/687
Driver 4: position -1200, standstill, reads 54226, writes 79 timeouts 0, SG min/max 0/294
Driver 5: position 0, standstill, reads 54295, writes 11 timeouts 0, SG min/max 0/0
Date/time: 2021-01-08 22:51:03
Slowest loop: 152.89ms; fastest: 0.03ms
=== Storage ===
Free file entries: 10
SD card 0 not detected, interface speed: 37.5MBytes/sec
SD card longest read time 0.0ms, write time 0.0ms, max retries 0
=== Move ===
DMs created 125, maxWait 752461ms, bed compensation in use: none, comp offset 0.000
=== MainDDARing ===
Scheduled moves 630, completed moves 630, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 2, 11], CDDA state -1
=== AuxDDARing ===
Scheduled moves 0, completed moves 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== Heat ===
Bed heaters = -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1, chamberHeaters = -1 -1 -1 -1
=== GCodes ===
Segments left: 0
Movement lock held by null
HTTP* is doing "M122" in state(s) 0
Telnet is idle in state(s) 0
File* is idle 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
SBC is idle in state(s) 0
Daemon is idle in state(s) 0
Aux2 is idle in state(s) 0
Autopause is idle in state(s) 0
Code queue is empty.
=== CAN ===
Messages queued 80, send timeouts 0, received 50, lost 0, longest wait 1ms for reply type 6036, free buffers 48
=== SBC interface ===
State: 4, failed transfers: 0
Last transfer: 1ms ago
RX/TX seq numbers: 21479/21479
SPI underruns 0, overruns 0
Number of disconnects: 0, IAP RAM available 0x2c8a8
Buffer RX/TX: 0/0-0
=== Duet Control Server ===
Duet Control Server v3.2.0
Code buffer space: 4096
Configured SPI speed: 8000000 Hz
Full transfers per second: 35.91
Maximum length of RX/TX data transfers: 3596/1696
M98 P"config.g" returns a green: M98 P"config.g" in the console.
Here also a file which produces many clunks (which is running in video):
wrenches_fake.gcode
It is hard to see which lines of the code cause the issue as I believe it is a problem with sending small segments.
I have had this issue since upgrading to the first of the 3.2 betas, but it does not occur 3.1.1.
Any thoughts?
T
@Phaedrux I believe this is the same issue as the what the OP had.
I did read the notes for 3.2, A and B axes are rotational and should be defaulting to that within the first M584 command, correct?
I will try now explicitly defining them as rotational.
Also something interesting:
I just started messing around with the M595 command to see if I could fix the clunks.
So far I have tried S=5, S=10, S=50, S=100 and S=1000.
All of these made the clunking way worse!
Very strange.
T
@Phaedrux yes the spacing was large just for readability/comparing values for axes.
I have removed the spacing so config.g now looks like this:
;CNC Mode
M453
;Name
M550 P"tristan-painting-machine"
;Brake Pins
M950 P2 C"out8"
M950 P1 C"out7"
;Drivers
M569 P0.0 S0 I1
M569 P0.1 S0 I1
M569 P0.2 S1 I1
M569 P0.3 S0 I1
M569 P0.4 S0 I1
M569 P121.0 S1 I1
;Driver Mapping
M584 X0.3 Y0.1:0.2 Z0.0 A0.4 B121.0 P5
M584 U0.2 P5
;Current
M906 X2000 Y3750 Z2000 U3750 A1750 B1500 I100
;Microstepping
M350 X16 Y16 Z16 U16 A16 I1
;Steps Per MM
M92 X80 Y80 Z80 U80 A46.1062140618 B26.6666
;Instantaneous Speed Change
M566 X500 Y500 Z500 U500 A500
;Max Speeds
M203 X13000 Y13000 Z13000 U6000 A40000 B40000
;Max Acceleration
M201 X750 Y750 Z500 U750 A2000 B2000
;Disable Idle Current Reduction
M84 S0
M917 Y100
;Probe
M558 P9 C"!^121.io0.in" H200 F400 T2000 I1
;Limits
M208 X0 Y-1360 Z-145 A-72000 B-101.4 S1
M208 X1242 Y0 Z0 A72000 B230 S0
;Servos
M950 S3 C"io4.out"
M950 S4 C"io5.out"
;Endstops
M574 U1 S1 P"!io6.in"
M574 Y1 S1 P"!io1.in"
M574 X1 S1 P"!io8.in"
M574 Z1 S1 P"io7.in"
M574 A1 S1 P"io0.in"
;Head Endstop
M574 B1 S1 P"121.io2.in"
;Tool 0
M563 P0 S"Probe"
;Tool 1
M563 P1 S"1/4 Flat Brush"
;Tool 2
M563 P2 S"5/8 Flat Brush"
;Allow Movement
M564 S0 H0
Running 3.2 stable now and the issue is still happening. M98 P"config.g" runs fine with no errors.
Here is video of one of the clunks:
https://youtu.be/egwhWUq8yAg
As you can see the system is not losing steps, it just stops for a fraction of a second without accelerating/decelerating.
Maybe I should make a new thread for this issue?
Let me know.
Cheers,
T
@Phaedrux Just tried with RC2, no luck and jerks happen in the same places on same file.
@dc42 I just got this system working well with capacitive sensor. Thanks.
Gantry style five axis machine. Nema23 on X,Y. Nema17 on Z,A,B. Duet 3 mainboard and one toolboard controlling the b axis and z probe.
Dual motors for Y axis, auto squaring with U axis.
Config;
;CNC Mode
M453
;Brake Pins
M950 P2 C"out8"
M950 P1 C"out7"
;Drivers
M569 P0.0 S0 I1
M569 P0.1 S0 I1
M569 P0.2 S1 I1
M569 P0.3 S0 I1
M569 P0.4 S0 I1
M569 P121.0 S1 I1
;Driver Mapping
M584 X0.3 Y0.1:0.2 Z0.0 A0.4 B121.0 P5
M584 U0.2 P5
;Current
M906 X2000 Y3750 Z2000 U3750 A1750 B1500 I100
;Microstepping
M350 X16 Y16 Z16 U16 A16 I1
;Steps Per MM
M92 X80 Y80 Z80 U80 A46.1062140618 B26.6666
;Instantaneous Speed Change
M566 X500 Y500 Z500 U500 A500
;Max Speeds
M203 X13000 Y13000 Z13000 U6000 A40000 B40000
;Max Acceleration
M201 X750 Y750 Z500 U750 A2000 B2000
;Disable Idle Current Reduction
M84 S0
M917 Y100
;Probe
M558 P9 C"!^121.io0.in" H200 F400 T2000 I1
;Limits
M208 X0 Y-1360 Z-145 A-72000 B-101.4 S1
M208 X1242 Y0 Z0 A72000 B230 S0
;Servos
M950 S3 C"io4.out"
M950 S4 C"io5.out"
;Endstops
M574 U1 S1 P"!io6.in"
M574 Y1 S1 P"!io1.in"
M574 X1 S1 P"io8.in"
M574 Z1 S1 P"io7.in"
M574 A1 S1 P"io0.in"
;Head Endstop
M574 B1 S1 P"121.io2.in"
;Tool 0
M563 P0 S"Probe"
;Tool 1
M563 P1 S"1/4 Flat Brush"
;Tool 2
M563 P2 S"5/8 Flat Brush"
;Allow Movement
M564 S0 H0
I had this issue with the Pi4 plus Duet3 on the 3.2 beta as well, went back to the stable to avoid it. Now after upgrading to 3.2rc1 I am still having this "jolting" issue.
I need to run the sbc as ethernet connection is not an option in my workshop.
Thanks for these recommendations David,
I'll give each of them a shot but I have a few questions:
- You could try increase the sensitivity of the IR sensor, either in firmware or by changing the value of a resistor. The latest firmware deliberately degrades the sensitivity, to avoid false triggering when the sensor is along way above a reflective surface.
I'm hesitant to keep using the ir sensor as it got ruined by the paint and I would have to buy another and put it at the same risk... Would it work with any form of protective coating?
- You could try a capacitive sensor above the surface; but they are sensitive to temperature and humidity.
If I could find a waterproof sensor that is easy to clean, this would be great. The temperature is regulated in the space and I guess anything under 3mm accuracy would actually be fine. Any suggestions?
- You can now buy inexpensive laser time-of-flight distance sensors, however I can't remember whether you can get 1mm accuracy from them, nor do I know whether they will see black paint better than the IR sensor does.
I just borrowed one from a friend and am going to give this a try with a little Arduino to convert the signal.
Looking into the capacitive foil technique as well.
Cheers,
T