@Paski to confirm for anyone else reading this following our email exchange:

That backlash is too high for successful calibration where the encoder is being used for motor commutation. There is inevitably backlash in a system where there is a coupler and then a leadscrew between the motor and the encoder. Using an encoder on the motor is effectively required for a well behaved system, adding a second encoder on the axis for position loop closing is supported but that can't be the only encoder.

Also, depending on axis length, and the position of the 1HCL, the SPI cable may be too long to be reliable, although thats not the specific issue in this case

@timschneider Thanks for sharing. Now i doubt it is CAN related problem. Maybe SPI communication is not keeping up with all this data being transfered and written to sd card? Im curious if this problem happens for standalone users.

@dc42

I have results so far!

For firmware updates with no gcode changes
Beta 2+1 behaves as expected
Beta 2+3 Produces the artefact (does not move in a diagonal at first move command)
Beta 2+4 Produces the artefact

Using Beta 2+4 the Quick Home XL macro has been edited with debug steps
Quick Home XL.txt

Which has produced the following
6aabc50a-c012-41e7-b779-49e55b818e2f-image.png
Whilst the order of the debug outputs are out of sync with the requests. once the values have been shifted around, the requested changes do appear to be happening.
This does not rule out if the printer is processing command moves with incorrect values, but it is more likely that the print to DWC service might have a delay.
Both behaviours however do not explain the sudden rise in the Z accelerations.

Replacing M201 in the macro with M201.1 in the config.g

Important to note the M201 in the macro only commands the X & Y motors, the Z acceleration is commanded in the config.g already (set to z500).

the Config.g was updated to include M201.1 Z300

This did no change to the behaviour

M906 was removed from the macro, which did noticeably increase the distance the bed could move before stalling. This definitely highlighted that the bed was accelerating very aggressively.

To guarantee that this behaviour is repeatable, I have tested this on a separate machine. This machine does not have a roto toolboard, and is instead using a D3-mini WITHOUT sbc.
The firmware version is 3.6.0.beta2+4
config.g Quick Home XL.txt

The behaviour of the motor stalling from excessive accelerations is also present on this machine.

This currently concludes my available testing. It appears that the use of M201, M201.1 M906 do not affect the behaviour of the printers, and the z motion on consecutive homing moves appears to stay broken.

Homing the printer through the homeall button does appear to be working, The first use after using the macro does produce the same error, but subsequent uses of the homeall.g appears to be working normally.
The single error appeared when a G30 line was used in the middle of the homing sequence

What is very interesting is after using a mixture of homeall.g and quickhome.g the printer does not seem to be doing the incorrect behaviour any more. What did show up a single time before this behaviour change (but after the machine has been moving multiple times) is the print head on a homeY.g move, moved backwards in a 15 degree angle. After this the z movement stayed consistantly working normally.

My current gut feeling is the issue may be directly linked to the diagonal moving identified in Beta2+3

I hope this is helpful @dc42, if there is any way to gather more advanced debug logs that would be helpful. feel free to use me in any way needed,

Hi @dc42,

I was running in standalone mode.
Thanks for the "M409 K"boards[1].drivers[0].closedLoop" command; it revealed an incompatibility with the DWC, which was resolved after an update.

BR.

@Argo thanks for reporting this. Please test again with beta 3 when we release it.

@ketirange Turns out a motor connector and cable was faulty, and after replacing it im able to perform a calibration move.

@droftarts The hissing sound is from the fans. The noise that I am referring to can be heard at 7 and 19 seconds in the video. It is from the delta tower motors. I am using a Duet Wifi 2 board. Input shaping is turned on. Here is the config.g file. Here is the output of M122 when the issue arises:

M122 === Diagnostics === RepRapFirmware for Duet 2 WiFi/Ethernet version 3.6.0-beta.2 (2024-11-12 08:12:30) running on Duet WiFi 1.0 or 1.01 Board ID: 08DAM-999TL-MQ4SD-6JTDL-3SS6N-968BX Used output buffers: 3 of 26 (19 max) === RTOS === Static ram: 23536 Dynamic ram: 67308 of which 12 recycled Never used RAM 9316, free system stack 122 words Tasks: NETWORK(1,ready,23.3%,195) HEAT(3,nWait 5,0.1%,328) Move(4,nWait 5,7.4%,264) MAIN(1,running,69.2%,742) IDLE(0,ready,0.0%,29), total 100.0% Owned mutexes: === Platform === Last reset 00:08:48 ago, cause: software Last software reset at 2024-12-08 19:04, reason: User, Gcodes spinning, available RAM 12172, slot 2 Software reset code 0x0003 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x00400000 BFAR 0xe000ed38 SP 0x00000000 Task MAIN Freestk 0 n/a Error status: 0x00 Aux0 errors 0,0,0 MCU temperature: min 35.8, current 36.0, max 36.5 Supply voltage: min 23.6, current 24.2, max 24.5, under voltage events: 0, over voltage events: 0, power good: yes Heap OK, handles allocated/used 99/2, heap memory allocated/used/recyclable 2048/1140/1072, gc cycles 1 Events: 0 queued, 0 completed Date/time: 2024-12-11 20:25:22 Slowest loop: 16.23ms; fastest: 0.14ms I2C nak errors 0, send timeouts 0, receive timeouts 0, finishTimeouts 0, resets 0 === Storage === Free file entries: 8 SD card 0 detected, interface speed: 20.0MBytes/sec SD card longest read time 0.9ms, write time 0.0ms, max retries 0 === Move === Segments created 746, maxWait 45ms, bed comp in use: none, height map offset 0.000, hiccups added 65/0 (0.00ms), max steps late 0, ebfmin 0.00, ebfmax 0.00 Pos req/act/dcf: 67028.00/66704/0.74 63402.00/63796/-0.93 68665.00/68591/-0.77 next step interrupt due in 68 ticks, disabled Driver 0: stalled, SG min 0 Driver 1: ok, SG min 0 Driver 2: ok, SG min 0 Driver 3: ok, SG min 0 Driver 4: standstill, SG min n/a Driver 5: Driver 6: Driver 7: Driver 8: Driver 9: Driver 10: Driver 11: === DDARing 0 === Scheduled moves 3130, completed 3091, LaErrors 0, Underruns [0, 0, 0] === Heat === Bed heaters 0 -1 -1 -1, chamber heaters -1 -1 -1 -1, ordering errs 0 Heater 0 is on, I-accum = 0.2 Heater 1 is on, I-accum = 0.2 === GCodes === Movement locks held by null HTTP is idle in state(s) 0 Telnet is idle in state(s) 0 File is idle in state(s) 3 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 Daemon is idle in state(s) 0 Autopause is idle in state(s) 0 Q0 segments left 0 Code queue 0 is empty === Network === Slowest loop: 22.00ms; fastest: 0.07ms Responder states: HTTP(0) HTTP(0) HTTP(0) FTP(0) Telnet(0) HTTP sessions: 1 of 8 === WiFi === Interface state: active Module is connected to access point Failed messages: pending 0, notrdy 0, noresp 0 Firmware version 2.2.0 MAC address 5c:cf:7f:2c:25:00 Module reset reason: Turned on by main processor, Vcc 3.40, flash size 4194304, free heap 40844 WiFi IP address 192.168.1.61 Signal strength -46dBm, channel 6, mode 802.11n, reconnections 0 Clock register 00002002 Socket states: 0 0 0 0 0 0 0 0

@DaveA @Leonard03 its been fixed in source and will be part of beta 3

@Leonard03 thanks for your further feedback. We have changes to PanelDueFirmware and RRF already made to reduce the interaction of PanelDue and DWC and we will release these soon.

@leone thanks again. Looks like the maximum allowed acknowledge delay should be about 900 to allow for maximum length messages. However, I'm still a little surprised that you had the maximum delay exceeded 10 times in succession.

@dc42 Yes, it is a Duet 2 Wifi board.

@dc42

; ========================================================================================================= ; ; Configuration file for CaribouIDEX with LGX and Duet 3 Mini 5+ (firmware version 3.4 and higher) ; ; for 0.9° motors on xy, and 0.9° or 1.8° motor on e ; ; for CaribouIDEX220 Duet3Mini5+ LGX Mosquito 0.9° - E3d or SE Thermistor - SuperPINDA ; ; CariboDuetConfiguration Release : "0.1.0" ; Build : 177 ; ; Copyright Caribou Research & Development 2023. Licensed under GPL3. ; Source code and release notes are available on github: https://github.com/Caribou3d/CaribouIDEX-Configuration-and-Macros ; ; ========================================================================================================= ; ; global variables ; global IdleCounter = 0 ; counts idle time global ExtruderTempActive_Old0 = 0 ; stores extruder 0 temperature for idle check global ExtruderTempActive_Old1 = 0 ; stores extruder 1 temperature for idle check global BedTempActive_Old = 0 ; stores bed temperature for idle check global OldStateStatus = 0 ; stores the status of the printer, processing = 1 global ToolSelected = -1 ; stores the selected tool global HeatStatus1 = -1 ; stores the status of heater 1 global HeatStatus2 = -1 ; stores the status of heater 2 global HeatStatus3 = -1 ; stores the status of tool2 global HeaterActive1 = 0 ; stores the active temperature of heater 1 global HeaterStandby1 = 0 ; stores the standby temperature of heater 1 global HeaterActive2 = 0 ; stores the active temperature of heater 2 global HeaterStandby2 = 0 ; stores the standby temperature of heater 2 global HeaterActive3 = 0 ; stores the active temperature of tool 2 global HeaterStandby3 = 0 ; stores the standby temperature of tool 2 global HeatStatusTr1 = -1 ; stores the status of heater 1 global HeatStatusTr2 = -1 ; stores the status of heater 2 global HeatStatusTr3 = -1 ; stores the status of tool2 global HeaterActiveTr1 = 0 ; stores the active temperature of heater 1 global HeaterStandbyTr1 = 0 ; stores the standby temperature of heater 1 global HeaterActiveTr2 = 0 ; stores the active temperature of heater 2 global HeaterStandbyTr2 = 0 ; stores the standby temperature of heater 2 global HeaterActiveTr3 = 0 ; stores the active temperature of tool 2 global HeaterStandbyTr3 = 0 ; stores the standby temperature of tool 2 global ToolToActOn = -1 ; stores tool for load / unload / change / filament global zlifted = 0 ; stores status of the z axis global success = 0 ; stores status of load / unload / change global purge = 0 ; stores status to purge when autoloading global AskToChange = 1 ; ask if filament should be changed? global zLiftDistance = 0 ; stores distance for lifting z axis global waitForExtruderTemperature0 = false ; beeps when pre-heat temperature is reached global waitForExtruderTemperature1 = false ; beeps when pre-heat temperature is reached global waitForExtruderTemperature2 = false ; beeps when pre-heat temperature is reached global waitForBedTemperature = false ; beeps when pre-heat temperature is reached global x_accel = 0 ; stores x accelerations (mm/s^2) global x_jerk = 0 ; stores x maximum instantaneous speed changes (mm/min) global y_accel = 0 ; stores y accelerations (mm/s^2) global y_jerk = 0 ; maximum y instantaneous speed changes (mm/min) global filamentErrorIgnore0 = 0 ; enable / disable execution of filament-error.g global filamentTriggerIgnore0 = 0 ; enable / disable execution of trigger2.g global filamentErrorIgnore1 = 0 ; enable / disable execution of filament-error.g global filamentTriggerIgnore1 = 0 ; enable / disable execution of trigger2.g global SkipCalibration=0 ; enable / disable claibration at the beginning of a print global pausex=0 global pausey=0 global pauseu=0 global pausez=0 ; ; general settings ; M111 S0 ; debugging off G21 ; work in millimetres ; ; ========================================================================================================= ; network settings ; ========================================================================================================= ; M550 P"AM-Xfuse2" ; set printer name ; M552 S1 ; enable network M586 P0 S1 ; enable HTTP M586 P1 S1 ; enable FTP M586 P2 S0 ; disable Telnet M575 P1 S1 B57600 ; enable support for PanelDue ; ; ========================================================================================================= ; drives ; ========================================================================================================= ; M569 P0.1 S1 D3 V1000 ; physical drive 0.0 goes backwards - x-axis M569 P0.2 S0 D3 V1000 ; physical drive 0.0 goes forwards - u-axis M569 P0.3 S0 D3 V1000 ; physical drive 0.1 goes backwards - y-axis M569 P0.0 S0 D3 V10 ; physical drive 0.2 goes backwards - z-left M569 P0.4 S0 D3 V10 ; physical drive 0.3 goes backwards - z-right M569 P20.0 S0 D3 V1000 ; physical drive 0.3 goes forwards - extruder M569 P21.0 S0 D3 V1000 ; physical drive 0.4 goes forwards - extruder ; ; motor Configuration ; M584 U0.1 X0.2 Y0.3 Z0.0:0.4 E20.0:21.0 ; set drive mapping M671 X-125.1:369.9 Y0:0 S1.00 ; leadscrews at left (connected to z) and right (connected to E1) of X axis ; ; set Microsteps and steps / mm ; M350 X16 U16 Y16 Z16 E16 I1 ; configure microstepping with interpolation ;M92 X200.00 U200.00 Y200.00 Z800.00 E704.00 ; set steps per mm ;M92 X200.00 U200.00 Y200.00 Z800.00 E706.00:706.00 ; set steps per mm M92 X200.00 U200.00 Y200.00 Z800.00 E567.00:567.00 ; set steps per mm ; ; set motor currents ; ;M906 X1400 U1400 Y1400 Z1200 E650 I40 ; set motor currents (mA) and motor idle factor in percent M906 X1250 U1250 Y1400 Z1300 E650 I100 ; set motor currents (mA) and motor idle factor in percent ; M84 S60 ; set idle timeout ; ; set speeds ; M201 X3000 U3000 Y3000 Z500 E500 ; set accelerations (mm/s^2) M203 X12000 U12000 Y12000 Z1000 E3600 ; set maximum speeds (mm/min) M204 P2000 T2000 ; set print and travel accelerations (mm(s^2) M566 X600 U600 Y600 Z48 E300 ; set maximum instantaneous speed changes (mm/min) ; set global.x_accel = move.axes[0].acceleration ; save accelerations (mm/s^2) set global.x_jerk = move.axes[0].jerk ; save maximum instantaneous speed changes (mm/min) ; set global.y_accel = move.axes[1].acceleration ; save accelerations (mm/s^2) set global.y_jerk = move.axes[1].jerk ; save maximum instantaneous speed changes (mm/min) ; M564 H0 ; allow unhomed movement ; ; ========================================================================================================= ; axis limits ; ========================================================================================================= ; M208 X-72.8 U-37 Y-24.0 Z0 S1 ; set axis minima M208 X251.0 U286.8 Y210.0 Z217.50 S0 ; set axis maxima ; ; ========================================================================================================= ; endstops ; ========================================================================================================= ; M574 X1 S1 P"io2.in" ; configure active high endstop switch for low end on x M574 U2 S1 P"io3.in" ; configure active high endstop switch for low end on u M574 Y1 S3 ; configure sensorless endstop for low end on y ; ; ========================================================================================================= ; ; SuperPINDA ; M558 P8 C"^20.io2.in" H1.5 F600 T8000 A3 S0.03 ; set z probe to SuperPINDA M557 X30:240 Y0:200 S30:40 ; define mesh grid ; ; ========================================================================================================= ; ; stallguard sensitivy ; M915 X S2 F0 H400 R0 ; set x axis sensitivity M915 Y S1 F0 H200 R0 ; set y axis sensitivity M915 Z S1 F0 H200 R0 ; set z axis sensitivity M915 U S2 F0 H400 R0 ; set x axis sensitivity ; ; ========================================================================================================= ; heaters & fans ; ========================================================================================================= ; ; heated bed ; ========================================================================================================= ; M308 S0 P"temp0" Y"thermistor" T100000 B4138 A"Bed" ; configure sensor 0 as thermistor on pin temp0 M950 H0 C"out0" Q50 T0 ; create bed heater output on bedheat and map it to sensor 0 M143 H0 S110 ; set temperature limit for heater 0 to 110°C M307 H0 B0 S1.00 ; disable bang-bang mode for the bed heater and set PWM limit M140 H0 ; map heated bed to heater 0 ; ; extruder ; ========================================================================================================= ; ; Hotend 1 (Mosquito or Mosquito Magnum with E3d Thermistor) ; M308 S1 P"20.temp0" Y"thermistor" T100000 B4725 C7.060000e-8 A"Nozzle E0" ; E3d configure sensor 1 as thermistor on pin temp1 ; M950 H1 C"20.out0" T1 ; create nozzle heater output on out1 and map it to sensor 1 M307 H1 B0 S1.00 ; disable bang-bang mode for heater 1 and set PWM limit M143 H1 S280 ; set temperature limit for heater 1 to 280°C ; ; Hotend 2 (Mosquito or Mosquito Magnum with E3d Thermistor) ; M308 S2 P"21.temp0" Y"thermistor" T100000 B4725 C7.060000e-8 A"Nozzle E1" ; E3d configure sensor 2 as thermistor on pin temp2 ; M950 H2 C"21.out0" T2 ; create nozzle heater output on out2 and map it to sensor 2 M307 H2 B0 S1.00 ; disable bang-bang mode for heater 2 and set PWM limit M143 H2 S280 ; set temperature limit for heater 2 to 280°C ; ; ========================================================================================================= ; M308 S4 P"mcu-temp" Y"mcu-temp" A"MCU" ; set virtual heater for MCU M308 S5 P"drivers" Y"drivers" A"Driver" ; set virtual heater for stepper drivers ; ; ========================================================================================================= ; fans ; ========================================================================================================= ; ; ; cooling fans ; M950 F0 C"20.out1" Q500 ; create fan 0 on pin fan1 and set its frequency ; M950 F1 C"21.out1" Q500 ; create fan 1 on pin fan1 and set its frequency ; ; extruder fans (temperature controlled) ; M950 F2 C"20.out2" Q500 ; create fan 2 on pin out5 and set its frequency M106 P2 H1 T50 ; set fan 2 value. Thermostatic control is turned on ; M950 F3 C"21.out2" Q500 ; create fan 3 on pin out6 and set its frequency M106 P3 H2 T50 ; set fan 3 value. Thermostatic control is turned on ; ; ======================================================================================================== ; tools ; ========================================================================================================= ; M563 P0 D0 H1 ; define tool 0 G10 P0 X0 Y0 Z0 ; set tool 0 axes offsets M568 P0 S0 R0 A0 ; turn off tool 0, set active and standby temperature to 0°C ; M563 P1 D1 H2 X3 ; define tool 1 (maps x to u) G10 P1 X0 Y0 Z0 ; set tool 1 axes offsets M568 P1 S0 R0 A0 ; turn off tool 1, set active and standby temperature to 0°C ; M563 P2 D0:1 H1:2 X0:3 F0:1 S"Tool 2 (copy mode)" ; define tool 2 (copies x to u) G10 P2 X0 Y0 U-110 S0 R0 ; set tool 2 axes offsets M568 P2 S0 R0 A0 ; turn off tool 2, set active and standby temperature to 0°C M567 P2 E1:1 ; set mixing ; M302 S80 R80 ; allow extrusions starting from 80°C and retractions from 80°C ; ; ========================================================================================================= ; filament handling ; ========================================================================================================= ; ; execute macro that determines the status of the filament sensor ; ;M591 D0 P3 C"20.io0.in" S1 R70:150 L78.5 ;M591 D1 P3 C"21.io0.in" S1 R70:150 L78.5 ; ; calculated values is L77.75 ; ;M98 P"0:/sys/00-Functions/FilamentsensorStatus" ; ; ========================================================================================================= ; other settings ; ========================================================================================================= ; M18 XUY ; release / unlock x, y M501 ; load config-override (for thermistor parameters and other settings) G90 ; absolute positioning M83 ; relative extruder moves ; ; ========================================================================================================= ; ; offsets - place off-sets for x and y here. z-offsets are handled in the print sheet macros ; G31 P1000 X0 Y5 G10 P0 X0 ; set offset for tool 0 ;G10 P1 X0 Y0.08 U34.22 Z0 ; set offset for tool 1 g10 p1 x0 u34.66 -y0.02 z0 ;g10 p1 x0 u34.90 y0.12 z0 ; ========================================================================================================= ; T-1 P0 ; deselect tools ; ; ========================================================================================================= ;

@dc42 I did change the power to 5V and this is OK now.
Many thanks

@Argo

Beta2+1 https://www.dropbox.com/scl/fo/kaxbpbsyq2lxbae4tmzpk/AAPVUAh6CO_FMO-cG9ttX6U?rlkey=f0aesppc8d2p7bzwwi2s1jayo&dl=0.
(newest) Beta2+4 https://www.dropbox.com/scl/fo/ga0jqwfksechhukg2uiz8/AOV3DR8z1C0UWczc8Rx25gE?rlkey=4saeh9luddndvxbhb0kdaqugr&dl=0.

You may want to try beta2+4's homing behaviour, For me something broke, On +1 it was fine.
Most of the step timing errors have been fixed in beta2

@dc42

Thanks! I can confirm that problem has been fixed.

@droftarts @dc42 thanks a lot - and my apologies! I keep forgetting that your forum software only searches in post titles by default.

The accelerometer method is great though. That means I will be able to use it once it is ready 🙂

@dc42 said in RRF 3.6.0-beta 2 tool fan controls disappear:

@edsped fans set to thermostatic mode are not intended to be controlled by the user, so they do not appear in DWC.

Yeah, I assumed, wrongly of course, that I wouldn't need to revert the fans. Was definitely a brain fart on my end. I considered deleting the post but figured I should keep it up so maybe someone else could learn from my ignorance. Thanks for the follow up.